test_longitudinal_speed_planner.cpp File Reference

#include <gtest/gtest.h>
#include <cmath>
#include <geometry_msgs/msg/accel.hpp>
#include <geometry_msgs/msg/twist.hpp>
#include <geometry_msgs/msg/vector3.hpp>
#include <traffic_simulator/behavior/longitudinal_speed_planning.hpp>
#include "../expect_eq_macros.hpp"

Include dependency graph for test_longitudinal_speed_planner.cpp:

Classes
class	LongitudinalSpeedPlannerTest

Macros
#define	EXPECT_CONSTRAINTS_BOUNDED(DATA, lower, upper)

Functions
int	main (int argc, char **argv)
auto	makeTwistWithLinearX (double x) -> geometry_msgs::msg::Twist
auto	makeAccelWithLinearX (double x) -> geometry_msgs::msg::Accel
	TEST_F (LongitudinalSpeedPlannerTest, isAccelerating_true)
	TEST_F (LongitudinalSpeedPlannerTest, isAccelerating_false)
	TEST_F (LongitudinalSpeedPlannerTest, isDecelerating_true)
	TEST_F (LongitudinalSpeedPlannerTest, isDecelerating_false)
	TEST_F (LongitudinalSpeedPlannerTest, getAccelerationDuration_acceleration)
	TEST_F (LongitudinalSpeedPlannerTest, getAccelerationDuration_targetSpeed_difference)
	TEST_F (LongitudinalSpeedPlannerTest, getDynamicStates_targetSpeedOverLimit)
	TEST_F (LongitudinalSpeedPlannerTest, getDynamicStates_maxJerk)
	TEST_F (LongitudinalSpeedPlannerTest, getDynamicStates_shortAccel)
	TEST_F (LongitudinalSpeedPlannerTest, isTargetSpeedReached_different)
	TEST_F (LongitudinalSpeedPlannerTest, isTargetSpeedReached_same)
	TEST_F (LongitudinalSpeedPlannerTest, getRunningDistance_shortTime)
	TEST_F (LongitudinalSpeedPlannerTest, getRunningDistance_longTime)
	TEST_F (LongitudinalSpeedPlannerTest, getRunningDistance_zero)

Macro Definition Documentation

EXPECT_CONSTRAINTS_BOUNDED

#define EXPECT_CONSTRAINTS_BOUNDED	(		DATA,
			lower,
			upper
	)

Value:

  EXPECT_GE(DATA.max_speed, lower);                    \
  EXPECT_GE(DATA.max_acceleration, lower);             \
  EXPECT_GE(DATA.max_deceleration, lower);             \
  EXPECT_GE(DATA.max_acceleration_rate, lower);        \
  EXPECT_GE(DATA.max_deceleration_rate, lower);        \
  EXPECT_LE(DATA.max_speed, upper);                    \
  EXPECT_LE(DATA.max_acceleration, upper);             \
  EXPECT_LE(DATA.max_deceleration, upper);             \
  EXPECT_LE(DATA.max_acceleration_rate, upper);        \
  EXPECT_LE(DATA.max_deceleration_rate, upper);

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

makeAccelWithLinearX()

auto makeAccelWithLinearX

(

double

x

)

-> geometry_msgs::msg::Accel

makeTwistWithLinearX()

auto makeTwistWithLinearX

(

double

x

)

-> geometry_msgs::msg::Twist

TEST_F() [1/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getAccelerationDuration_acceleration
	)

Note

Test calculations correctness of acceleration duration with some positive acceleration and speed substantially below target_speed.

Actual duration calculated by hand based on input. Tolerance value chosen as very small, but acceptable numerical error.

TEST_F() [2/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getAccelerationDuration_targetSpeed_difference
	)

Note

Test calculations correctness when difference between getVelocityWithConstantJerk and target_speed is more than 0.01, https://github.com/tier4/scenario_simulator_v2/issues/1395

TEST_F() [3/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getDynamicStates_maxJerk
	)

Note

Test functionality aggregation used in other classes. Test calculations correctness with target_speed = max speed and current speed = 0

• goal is to test the situation when acceleration is so long that max jerk is reached.

TEST_F() [4/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getDynamicStates_shortAccel
	)

Note

Test functionality aggregation used in other classes. Test calculations correctness with target_speed slightly smaller than current speed

• goal is to test the situation when the max jerk is not reached because the target_speed is reached first.

TEST_F() [5/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getDynamicStates_targetSpeedOverLimit
	)

Note

Test functionality aggregation used in other classes. Test function behavior when target_speed is bigger than max speed.

TEST_F() [6/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getRunningDistance_longTime
	)

Note

Test functionality aggregation used in other classes. Test calculations correctness with target_speed = 0 and current speed = 50 (or other cruising speed)

• goal is to test the situation when the target speed is reached takes longer to reach so the loop has to run multiple times.

TEST_F() [7/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getRunningDistance_shortTime
	)

Note

Test functionality aggregation used in other classes. Test calculations correctness with target_speed slightly bigger than current speed

• goal is to test the situation when the target speed is reached in little time, so the loop executes only several times.

TEST_F() [8/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		getRunningDistance_zero
	)

Note

Test functionality aggregation used in other classes. Test calculations correctness with target_speed identical to current speed so that the time is 0.

TEST_F() [9/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		isAccelerating_false
	)

Note

Test basic functionality. Test with non accelerating situation.

TEST_F() [10/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		isAccelerating_true
	)

Note

Test basic functionality. Test with an accelerating situation.

TEST_F() [11/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		isDecelerating_false
	)

Note

Test basic functionality. Test with non decelerating situation.

TEST_F() [12/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		isDecelerating_true
	)

Note

Test basic functionality. Test with a decelerating situation.

TEST_F() [13/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		isTargetSpeedReached_different
	)

Note

Test functionality used in other classes. Test calculations correctness with target_speed differing from current speed by several units.

TEST_F() [14/14]

TEST_F	(	LongitudinalSpeedPlannerTest	,
		isTargetSpeedReached_same
	)

Note

Test functionality used in other classes. Test calculations correctness with target_speed differing from current speed by very small amount

• goal is to simulate equal speed but with numerical noise.