#include "adapter_planning/vehicle.hpp"
#include "common_lib/communication/interfaces.hpp"
#include "planning/planning.hpp"
#include "test_utils/utils.hpp"

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Classes
class	IntegrationTest

Functions
	TEST_F (IntegrationTest, PUBLISH_PATH1)
	Tests the full pipeline with a simple track of 24 cones placed in two straight lines parallel to the x-axis.

	TEST_F (IntegrationTest, PUBLISH_PATH2)
	test the full pipeline with a straight track of 24 cones oriented at 45 degrees with the x-axis.

	TEST_F (IntegrationTest, PUBLISH_PATH3)
	test the full pipeline with a straight track of 24 cones oriented at 135 degrees with the x-axis.

	TEST_F (IntegrationTest, PUBLISH_PATH4)
	test the full pipeline with a straight track of 24 cones oriented at 225 degrees with the x-axis.

	TEST_F (IntegrationTest, PUBLISH_PATH5)
	test the full pipeline with a straight track of 24 cones oriented at 315 degrees with the x-axis.

	TEST_F (IntegrationTest, PUBLISH_PATH6)
	test the full pipeline with a straight track of 24 cones oriented at 90 degrees with the x-axis (parallel to the y-axis).

	TEST_F (IntegrationTest, no_cones)
	Tests the full pipeline when 0 cones are sent.

	TEST_F (IntegrationTest, one_cone)
	Tests the full pipeline when only a single cone is sent.

void	read_from_file (std::ifstream &file, double &finalxi, double &finalxf, double &finalyi, double &finalyf, std::vector< Cone > &cone_array, custom_interfaces::msg::Pose &vehicle_pose)
	Reads a file and processes its contents to initialize vehicle state, cones, and final position range.

void	save_debug_file (const std::string filename, const std::vector< Cone > cone_array, const custom_interfaces::msg::PathPointArray received_path, const custom_interfaces::msg::Pose vehicle_pose)
	Saves debug information to a file.

	TEST_F (IntegrationTest, simple_straight_path)
	Tests the full pipeline with a simple straight path.

	TEST_F (IntegrationTest, unbalanced_STRAIGHT_PATH)
	Tests the full pipeline in a straight line with fewer cones in one and more in the other.

	TEST_F (IntegrationTest, FULL_CURVE_PATH)
	Tests the full pipeline in a straight line with fewer cones.

	TEST_F (IntegrationTest, CURVES_AND_CLOSE_TRACKSIDES)
	A path with curves where one side of the track is close to other part of the track.

	TEST_F (IntegrationTest, SHARP_SINOSOIDAL_CURVE)
	A path with a sharp sinosoidal curve, where cones on both sides get closer.

	TEST_F (IntegrationTest, ROSBAG_PATH_1)
	Testing a scenario from rosbag Autocross_DV-5.

	TEST_F (IntegrationTest, ROSBAG_PATH_2)
	Testing a scenario from rosbag ZigZag_DV-11.

	TEST_F (IntegrationTest, ROSBAG_PATH_3)
	Testing a scenario from rosbag Acceleration_Testing_DV-1B.

	TEST_F (IntegrationTest, ROSBAG_PATH_4)
	Testing a scenario from rosbag Hard_Course-DV-3 from the beggining of the track.

	TEST_F (IntegrationTest, ROSBAG_PATH_5)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

	TEST_F (IntegrationTest, CIRCLE)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

	TEST_F (IntegrationTest, STRAIGHT_3)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

	TEST_F (IntegrationTest, TRACK)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

	TEST_F (IntegrationTest, TRACK_2)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

	TEST_F (IntegrationTest, OUTLIERS_1)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

	TEST_F (IntegrationTest, OUTLIERS_2)
	Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Function Documentation

◆ read_from_file()

void read_from_file	(	std::ifstream &	file,
		double &	finalxi,
		double &	finalxf,
		double &	finalyi,
		double &	finalyf,
		std::vector< Cone > &	cone_array,
		custom_interfaces::msg::Pose &	vehicle_pose
	)

Reads a file and processes its contents to initialize vehicle state, cones, and final position range.

This function reads lines from the provided file stream and processes them based on specific flags:

"P": Initializes the vehicle state with position (x, y) and orientation (theta).
"C": Adds a cone to the cone array with position (x, y) and color.
"F": Sets the final expected position range (finalxi, finalxf, finalyi, finalyf).

Parameters

file	The input file stream to read from.
finalxi	Reference to the variable to store the initial x-coordinate of the final position range.
finalxf	Reference to the variable to store the final x-coordinate of the final position range.
finalyi	Reference to the variable to store the initial y-coordinate of the final position range.
finalyf	Reference to the variable to store the final y-coordinate of the final position range.
cone_array	Reference to the vector to store the cones read from the file.
vehicle_pose	Reference to the Pose object to store the initial vehicle state.

Definition at line 358 of file integration_tests.cpp.

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◆ save_debug_file()

void save_debug_file	(	const std::string	filename,
		const std::vector< Cone >	cone_array,
		const custom_interfaces::msg::PathPointArray	received_path,
		const custom_interfaces::msg::Pose	vehicle_pose
	)

Saves debug information to a file.

This function writes the received path points, cone array, and vehicle state to a specified debug file. The file is saved in the directory "../../src/planning/test/integration_tests/results/" with the given filename.

Parameters

filename	The name of the file to save the debug information.
cone_array	A vector of Cone objects representing the cone positions and colors.
received_path	A PathPointArray message containing the path points.
vehicle_pose	A Pose message containing the vehicle's position and orientation.

Definition at line 398 of file integration_tests.cpp.

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◆ TEST_F() [1/24]

TEST_F	(	IntegrationTest	,
		CIRCLE
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 867 of file integration_tests.cpp.

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◆ TEST_F() [2/24]

TEST_F	(	IntegrationTest	,
		CURVES_AND_CLOSE_TRACKSIDES
	)

A path with curves where one side of the track is close to other part of the track.

Definition at line 558 of file integration_tests.cpp.

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◆ TEST_F() [3/24]

TEST_F	(	IntegrationTest	,
		FULL_CURVE_PATH
	)

Tests the full pipeline in a straight line with fewer cones.

Definition at line 513 of file integration_tests.cpp.

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◆ TEST_F() [4/24]

TEST_F	(	IntegrationTest	,
		no_cones
	)

Tests the full pipeline when 0 cones are sent.

Definition at line 301 of file integration_tests.cpp.

◆ TEST_F() [5/24]

TEST_F	(	IntegrationTest	,
		one_cone
	)

Tests the full pipeline when only a single cone is sent.

Definition at line 320 of file integration_tests.cpp.

◆ TEST_F() [6/24]

TEST_F	(	IntegrationTest	,
		OUTLIERS_1
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 1044 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		OUTLIERS_2
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 1088 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		PUBLISH_PATH1
	)

Tests the full pipeline with a simple track of 24 cones placed in two straight lines parallel to the x-axis.

The result should be a path of points contained in the x-axis.

Definition at line 93 of file integration_tests.cpp.

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◆ TEST_F() [9/24]

TEST_F	(	IntegrationTest	,
		PUBLISH_PATH2
	)

test the full pipeline with a straight track of 24 cones oriented at 45 degrees with the x-axis.

Definition at line 124 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		PUBLISH_PATH3
	)

test the full pipeline with a straight track of 24 cones oriented at 135 degrees with the x-axis.

Definition at line 161 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		PUBLISH_PATH4
	)

test the full pipeline with a straight track of 24 cones oriented at 225 degrees with the x-axis.

Definition at line 199 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		PUBLISH_PATH5
	)

test the full pipeline with a straight track of 24 cones oriented at 315 degrees with the x-axis.

Definition at line 235 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		PUBLISH_PATH6
	)

test the full pipeline with a straight track of 24 cones oriented at 90 degrees with the x-axis (parallel to the y-axis).

Definition at line 271 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		ROSBAG_PATH_1
	)

Testing a scenario from rosbag Autocross_DV-5.

Definition at line 646 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		ROSBAG_PATH_2
	)

Testing a scenario from rosbag ZigZag_DV-11.

Definition at line 690 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		ROSBAG_PATH_3
	)

Testing a scenario from rosbag Acceleration_Testing_DV-1B.

Definition at line 735 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		ROSBAG_PATH_4
	)

Testing a scenario from rosbag Hard_Course-DV-3 from the beggining of the track.

Definition at line 779 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		ROSBAG_PATH_5
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 823 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		SHARP_SINOSOIDAL_CURVE
	)

A path with a sharp sinosoidal curve, where cones on both sides get closer.

Definition at line 602 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		simple_straight_path
	)

Tests the full pipeline with a simple straight path.

Definition at line 424 of file integration_tests.cpp.

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◆ TEST_F() [21/24]

TEST_F	(	IntegrationTest	,
		STRAIGHT_3
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 911 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		TRACK
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 956 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		TRACK_2
	)

Testing a scenario from rosbag Hard_Course-DV-3 with a different initial position.

Definition at line 1000 of file integration_tests.cpp.

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TEST_F	(	IntegrationTest	,
		unbalanced_STRAIGHT_PATH
	)

Tests the full pipeline in a straight line with fewer cones in one and more in the other.

Definition at line 469 of file integration_tests.cpp.

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Classes

Functions

Function Documentation

◆ read_from_file()

◆ save_debug_file()

◆ TEST_F() [1/24]

◆ TEST_F() [2/24]

◆ TEST_F() [3/24]

◆ TEST_F() [4/24]

◆ TEST_F() [5/24]

◆ TEST_F() [6/24]

◆ TEST_F() [7/24]

◆ TEST_F() [8/24]

◆ TEST_F() [9/24]

◆ TEST_F() [10/24]

◆ TEST_F() [11/24]

◆ TEST_F() [12/24]

◆ TEST_F() [13/24]

◆ TEST_F() [14/24]

◆ TEST_F() [15/24]

◆ TEST_F() [16/24]

◆ TEST_F() [17/24]

◆ TEST_F() [18/24]

◆ TEST_F() [19/24]

◆ TEST_F() [20/24]

◆ TEST_F() [21/24]

◆ TEST_F() [22/24]

◆ TEST_F() [23/24]

◆ TEST_F() [24/24]