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Provides a test to validate the end to end connectivity of routing::Route #81

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merged 6 commits into from
Oct 8, 2024
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Merged

Provides a test to validate the end to end connectivity of routing::Route #81

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a2a220f
Provides a test to validate the end to end connectivity of routing::R…
agalbachicar Mar 5, 2024
9a3cb03
Fixes to tests:
agalbachicar Jun 3, 2024
555b060
Merge branch 'main' into agalbachicar/#543_route_end_to_end_connectivity
agalbachicar Jun 4, 2024
5415ba7
Address review comments from Liang.
agalbachicar Jun 24, 2024
ff00807
Merge branch 'main' into agalbachicar/#543_route_end_to_end_connectivity
agalbachicar Jun 24, 2024
4832c43
Addresses Liang's review comment.
agalbachicar Oct 1, 2024
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3 changes: 3 additions & 0 deletions test/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -39,6 +39,7 @@ file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/data/DefaultObjContent.obj DESTINATION ${T
file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/data/HighlightedSegments.obj DESTINATION ${TEST_PATH})
file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/data/NoBranchPointsObjContent.obj DESTINATION ${TEST_PATH})
file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/data/StackedBranchPointsObjContent.obj DESTINATION ${TEST_PATH})
file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/resources/odr/MultipleStraightSegments.xodr DESTINATION ${TEST_PATH})

ament_add_gtest(derive_lane_s_routes_test derive_lane_s_routes_test.cc)
ament_add_gtest(find_lane_sequences_test find_lane_sequences_test.cc)
Expand All @@ -49,6 +50,7 @@ ament_add_gtest(intersection_book_loader_test intersection_book_loader_test.cc)
ament_add_gmock(object_query_test object_query_test.cc)
ament_add_gtest(phase_ring_book_loader_test phase_ring_book_loader_test.cc)
ament_add_gtest(road_rulebook_loader_test road_rulebook_loader_test.cc)
ament_add_gtest(route_end_to_end_connectivity_test route_end_to_end_connectivity_test.cc WORKING_DIRECTORY ${TEST_PATH})
ament_add_gtest(segment_analysis_test segment_analysis_test.cc)
ament_add_gtest(traffic_light_book_loader_test traffic_light_book_loader_test.cc)
ament_add_gtest(waypoints_test waypoints_test.cc)
Expand All @@ -62,6 +64,7 @@ add_dependencies_to_test(intersection_book_loader_test)
add_dependencies_to_test(object_query_test)
add_dependencies_to_test(phase_ring_book_loader_test)
add_dependencies_to_test(road_rulebook_loader_test)
add_dependencies_to_test(route_end_to_end_connectivity_test)
add_dependencies_to_test(segment_analysis_test)
add_dependencies_to_test(traffic_light_book_loader_test)
add_dependencies_to_test(waypoints_test)
146 changes: 146 additions & 0 deletions test/resources/odr/MultipleStraightSegments.xodr
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Original file line number Diff line number Diff line change
@@ -0,0 +1,146 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--
BSD 3-Clause License

Copyright (c) 2024, Woven by Toyota. All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.

* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.

* Neither the name of the copyright holder nor the names of its
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<OpenDRIVE>
<header revMajor="1" revMinor="1" name="MultipleStraightSegments" version="1.00" date="Mon Mar 04 17:50:00 2024" north="0.0" south="0.0" east="0.0" west="0.0" maxRoad="2" maxJunc="0" maxPrg="0">
<geoReference><![CDATA[+proj=tmerc +lat_0=37.4168716 +lon_0=-122.1030492 +k=1 +x_0=0 +y_0=0 +datum=WGS84 +units=m +vunits=m +no_defs ]]></geoReference>
</header>
<road name="Road 1" length="100.0" id="1" junction="-1">
<link>
<successor elementType="road" elementId="2" contactPoint="start" />
</link>
<planView>
<geometry s="0.0" x="0.0" y="0.0" hdg="0.0" length="100.0">
<line/>
</geometry>
</planView>
<elevationProfile>
</elevationProfile>
<lateralProfile>
</lateralProfile>
<lanes>
<laneSection s="0.0">
<left>
<lane id="1" type="driving" level= "0">
<link>
<successor id="1" />
</link>
<width sOffset="0.0" a="3.5" b="0.0" c="0.0" d="0.0"/>
<roadMark sOffset="0.0" type="solid" weight="standard" color="standard" width="2.e-01"/>
<userData>
<vectorLane travelDir="backward"/>
</userData>
</lane>
</left>
<center>
<lane id="0" type="driving" level= "0">
<link>
<successor id="0" />
</link>
<roadMark sOffset="0.0" type="broken" weight="standard" color="standard" width="1.e-01"/>
<userData>
<vectorLane travelDir="undirected"/>
</userData>
</lane>
</center>
<right>
<lane id="-1" type="driving" level= "0">
<link>
<successor id="-1" />
</link>
<width sOffset="0.0" a="3.5" b="0.0" c="0.0" d="0.0"/>
<roadMark sOffset="0.0" type="solid" weight="standard" color="standard" width="2.e-01"/>
<userData>
<vectorLane travelDir="forward"/>
</userData>
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals />
</road>
<road name="Road 2" length="100.0" id="2" junction="-1">
<link>
<predecessor elementType="road" elementId="1" contactPoint="end" />
</link>
<planView>
<geometry s="0.0" x="100.0" y="0.0" hdg="0.0" length="100.0">
<line/>
</geometry>
</planView>
<elevationProfile>
</elevationProfile>
<lateralProfile>
</lateralProfile>
<lanes>
<laneSection s="0.0">
<left>
<lane id="1" type="driving" level= "0">
<link>
<predecessor id="1" />
</link>
<width sOffset="0.0" a="3.5" b="0.0" c="0.0" d="0.0"/>
<roadMark sOffset="0.0" type="solid" weight="standard" color="standard" width="2.e-01"/>
<userData>
<vectorLane travelDir="backward"/>
</userData>
</lane>
</left>
<center>
<lane id="0" type="driving" level= "0">
<link>
<predecessor id="0" />
</link>
<roadMark sOffset="0.0" type="broken" weight="standard" color="standard" width="1.e-01"/>
<userData>
<vectorLane travelDir="undirected"/>
</userData>
</lane>
</center>
<right>
<lane id="-1" type="driving" level= "0">
<link>
<predecessor id="-1" />
</link>
<width sOffset="0.0" a="3.5" b="0.0" c="0.0" d="0.0"/>
<roadMark sOffset="0.0" type="solid" weight="standard" color="standard" width="2.e-01"/>
<userData>
<vectorLane travelDir="forward"/>
</userData>
</lane>
</right>
</laneSection>
</lanes>
<objects />
<signals />
</road>
</OpenDRIVE>
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