| 58 | // Test data for special translation |
| 59 | template <> |
| 60 | std::vector<TestCostmap2DConversion<Costmap2DSpecialTranslationTable>::TestValue> |
| 61 | TestCostmap2DConversion<Costmap2DSpecialTranslationTable>::getTestValues() { |
| 62 | std::vector<TestValue> testValues; |
| 63 | testValues.emplace_back(TestValue(Position(3.2, 5.1), costmap_2d::FREE_SPACE, 0.f, true)); |
| 64 | testValues.emplace_back(TestValue(Position(4.2, 4.1), costmap_2d::INSCRIBED_INFLATED_OBSTACLE, 1.f, true)); |
| 65 | testValues.emplace_back(TestValue(Position(6.2, 3.1), costmap_2d::LETHAL_OBSTACLE, 2.f, true)); |
| 66 | testValues.emplace_back(TestValue(Position(5.2, 7.8), costmap_2d::NO_INFORMATION, 3.f, true)); |
| 67 | // Check for grid map to costmap only. |
| 68 | testValues.emplace_back(TestValue(Position(5.4, 6.8), costmap_2d::FREE_SPACE, -1.f, false)); |
| 69 | testValues.emplace_back(TestValue(Position(8.5, 4.5), costmap_2d::LETHAL_OBSTACLE, 4.f, false)); |
| 70 | return testValues; |
| 71 | } |
| 72 | |
| 73 | // Test data for special translation |
| 74 | template <> |