From d32dc463e5e716287d0e78bb4640122d4e9616bf Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Fri, 24 Feb 2023 12:53:09 +0900 Subject: [PATCH] refactor(planning_error_monitor): remove pkg (#2604) * remove planning_error_monitor Signed-off-by: Takamasa Horibe * remove launch Signed-off-by: Takamasa Horibe --------- Signed-off-by: Takamasa Horibe --- .../planning_error_monitor.launch.xml | 6 - .../planning_error_monitor/CMakeLists.txt | 45 --- planning/planning_error_monitor/README.md | 80 ----- .../config/planning_error_monitor.param.yaml | 7 - .../planning_error_monitor/debug_marker.hpp | 56 ---- .../invalid_trajectory_publisher.hpp | 46 --- .../planning_error_monitor_node.hpp | 81 ----- .../invalid_trajectory_publisher.launch.xml | 9 - .../launch/planning_error_monitor.launch.xml | 15 - .../media/curvature_calculation_diagram.svg | 44 --- .../media/flowchart.png | Bin 74808 -> 0 bytes planning/planning_error_monitor/package.xml | 33 -- .../src/debug_marker.cpp | 88 ----- .../src/invalid_trajectory_publisher.cpp | 78 ----- .../src/planning_error_monitor_node.cpp | 312 ------------------ .../test/src/test_main.cpp | 26 -- .../test_planning_error_monitor_functions.cpp | 157 --------- .../test_planning_error_monitor_helper.hpp | 67 ---- .../test_planning_error_monitor_pubsub.cpp | 129 -------- 19 files changed, 1279 deletions(-) delete mode 100644 launch/tier4_planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml delete mode 100644 planning/planning_error_monitor/CMakeLists.txt delete mode 100644 planning/planning_error_monitor/README.md delete mode 100644 planning/planning_error_monitor/config/planning_error_monitor.param.yaml delete mode 100644 planning/planning_error_monitor/include/planning_error_monitor/debug_marker.hpp delete mode 100644 planning/planning_error_monitor/include/planning_error_monitor/invalid_trajectory_publisher.hpp delete mode 100644 planning/planning_error_monitor/include/planning_error_monitor/planning_error_monitor_node.hpp delete mode 100644 planning/planning_error_monitor/launch/invalid_trajectory_publisher.launch.xml delete mode 100644 planning/planning_error_monitor/launch/planning_error_monitor.launch.xml delete mode 100644 planning/planning_error_monitor/media/curvature_calculation_diagram.svg delete mode 100644 planning/planning_error_monitor/media/flowchart.png delete mode 100644 planning/planning_error_monitor/package.xml delete mode 100644 planning/planning_error_monitor/src/debug_marker.cpp delete mode 100644 planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp delete mode 100644 planning/planning_error_monitor/src/planning_error_monitor_node.cpp delete mode 100644 planning/planning_error_monitor/test/src/test_main.cpp delete mode 100644 planning/planning_error_monitor/test/src/test_planning_error_monitor_functions.cpp delete mode 100644 planning/planning_error_monitor/test/src/test_planning_error_monitor_helper.hpp delete mode 100644 planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp diff --git a/launch/tier4_planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml b/launch/tier4_planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml deleted file mode 100644 index 31f5820ce5a16..0000000000000 --- a/launch/tier4_planning_launch/launch/planning_diagnostics/planning_error_monitor.launch.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt deleted file mode 100644 index 66932c63e8990..0000000000000 --- a/planning/planning_error_monitor/CMakeLists.txt +++ /dev/null @@ -1,45 +0,0 @@ -cmake_minimum_required(VERSION 3.14) -project(planning_error_monitor) - -find_package(autoware_cmake REQUIRED) -autoware_package() - -ament_auto_add_library(planning_error_monitor_node SHARED - src/planning_error_monitor_node.cpp - src/debug_marker.cpp -) - -rclcpp_components_register_node(planning_error_monitor_node - PLUGIN "planning_diagnostics::PlanningErrorMonitorNode" - EXECUTABLE planning_error_monitor -) - -ament_auto_add_library(invalid_trajectory_publisher_node SHARED - src/invalid_trajectory_publisher.cpp -) -rclcpp_components_register_node(invalid_trajectory_publisher_node - PLUGIN "planning_diagnostics::InvalidTrajectoryPublisherNode" - EXECUTABLE invalid_trajectory_publisher -) - -if(BUILD_TESTING) - ament_add_ros_isolated_gtest(test_planning_error_monitor - test/src/test_main.cpp - test/src/test_planning_error_monitor_functions.cpp - test/src/test_planning_error_monitor_helper.hpp - test/src/test_planning_error_monitor_pubsub.cpp - ) - ament_target_dependencies(test_planning_error_monitor - rclcpp - autoware_auto_planning_msgs - ) - target_link_libraries(test_planning_error_monitor - planning_error_monitor_node - ) -endif() - -ament_auto_package( - INSTALL_TO_SHARE - config - launch -) diff --git a/planning/planning_error_monitor/README.md b/planning/planning_error_monitor/README.md deleted file mode 100644 index 0890b32da6330..0000000000000 --- a/planning/planning_error_monitor/README.md +++ /dev/null @@ -1,80 +0,0 @@ -# Planning Error Monitor - -## Purpose - -`planning_error_monitor` checks a trajectory that if it has any invalid numerical values in its positions, twist and accel values. In addition, it also checks the distance between any two consecutive points and curvature value at a certain point. This package basically monitors if a trajectory, which is generated by planning module, has any unexpected errors. - -## Inner-workings / Algorithms - -![flow_chart_image](./media/flowchart.png) - -### Point Value Checker (onTrajectoryPointValueChecker) - -This function checks position, twist and accel values of all points on a trajectory. If they have `Nan` or `Infinity`, this function outputs error status. - -### Interval Checker (onTrajectoryIntervalChecker) - -This function computes interval distance between two consecutive points, and will output error messages if the distance is over the `interval_threshold`. - -### Curvature Checker (onTrajectoryCurvatureChecker) - -This function checks if the curvature at each point on a trajectory has an appropriate value. Calculation details are described in the following picture. First, we choose one point(green point in the picture) that are 1.0[m] behind the current point. Then we get a point(blue point in the picture) 1.0[m] ahead of the current point. Using these three points, we calculate the curvature by [this method](https://en.wikipedia.org/wiki/Menger_curvature). - -### Relative Angle Checker (onTrajectoryRelativeAngleChecker) - -This function checks if the relative angle at point1 generated from point2 and 3 on a trajectory has an appropriate value. - -![curvature_calculation_diagram](./media/curvature_calculation_diagram.svg) - -## Inputs / Outputs - -### Input - -| Name | Type | Description | -| -------------------- | ---------------------------------------- | -------------------------------------- | -| `~/input/trajectory` | `autoware_auto_planning_msgs/Trajectory` | Planned Trajectory by planning modules | - -### Output - -| Name | Type | Description | -| ---------------- | --------------------------------- | --------------------- | -| `/diagnostics` | `diagnostic_msgs/DiagnosticArray` | diagnostics outputs | -| `~/debug/marker` | `visualization_msgs/MarkerArray` | visualization markers | - -## Parameters - -| Name | Type | Description | Default value | -| :------------------------ | :------- | :------------------------------------ | :------------ | -| `error_interval` | `double` | Error Interval Distance Threshold [m] | 100.0 | -| `error_curvature` | `double` | Error Curvature Threshold | 1.0 | -| `error_sharp_angle` | `double` | Error Sharp Angle Threshold | $\pi$/4 | -| `ignore_too_close_points` | `double` | Ignore Too Close Distance Threshold | 0.005 | - -## Visualization - -When the trajectory error occurs, markers for visualization are published at the topic `~/debug/marker`. - -- trajectory_interval: An error occurs when the distance between two points exceeds a certain large value. The two points where the error occurred will be visualized. -- trajectory_curvature: An error occurs when the curvature exceeds a certain large value. The three points used to calculate the curvature will be visualized. -- trajectory_relative_angle: An error occurs when the angle in the direction of the path point changes significantly. The three points used to calculate the relative angle will be visualized. - -## Assumptions / Known limits - -- It cannot compute curvature values at start and end points of the trajectory. -- If trajectory points are too close, curvature calculation might output incorrect values. - -## Future extensions / Unimplemented parts - -- Collision checker with obstacles may be implemented in the future. - -## Error detection and handling - -For the onsite validation, you can use the `invalid_trajectory_publisher` node. Please launch the node with the following command when the target trajectory is being published. - -```bash -ros2 launch planning_error_monitor invalid_trajectory_publisher.launch.xml -``` - -This node subscribes the target trajectory, inserts the invalid point, and publishes it with the same name. The invalid trajectory is supposed to be detected by the `planning_error_monitor`. - -Limitation: Once the `invalid_trajectory_publisher` receives the trajectory, it will turn off the subscriber. This is to prevent the trajectory from looping in the same node, therefore, only the one pattern of invalid trajectory is generated. diff --git a/planning/planning_error_monitor/config/planning_error_monitor.param.yaml b/planning/planning_error_monitor/config/planning_error_monitor.param.yaml deleted file mode 100644 index d52f24553b9c2..0000000000000 --- a/planning/planning_error_monitor/config/planning_error_monitor.param.yaml +++ /dev/null @@ -1,7 +0,0 @@ -/**: - ros__parameters: - # trajectory check - error_interval: 100.0 # error interval distance threshold [m] - error_curvature: 2.0 # error curvature threshold [rad/m] - error_sharp_angle: 0.785398 # error sharp angle threshold [rad] - ignore_too_close_points: 0.01 # ignore too close distance threshold [m] diff --git a/planning/planning_error_monitor/include/planning_error_monitor/debug_marker.hpp b/planning/planning_error_monitor/include/planning_error_monitor/debug_marker.hpp deleted file mode 100644 index 0462cf359db69..0000000000000 --- a/planning/planning_error_monitor/include/planning_error_monitor/debug_marker.hpp +++ /dev/null @@ -1,56 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef PLANNING_ERROR_MONITOR__DEBUG_MARKER_HPP_ -#define PLANNING_ERROR_MONITOR__DEBUG_MARKER_HPP_ - -#include - -#include -#include - -#include -#include -#include -#include - -class PlanningErrorMonitorDebugNode -{ -public: - PlanningErrorMonitorDebugNode(); - - void initialize(rclcpp::Node * node); - void pushPoseMarker(const geometry_msgs::msg::Pose & pose, const std::string & ns, int id = 0); - void clearPoseMarker(const std::string & ns); - void publish(); - -private: - rclcpp::Node * node_; - visualization_msgs::msg::MarkerArray marker_array_; - rclcpp::Publisher::SharedPtr debug_viz_pub_; - std::map marker_id_; - bool initialized = false; - - int getMarkerId(const std::string & ns) - { - if (marker_id_.count(ns) == 0) { - marker_id_[ns] = 0.0; - } - return marker_id_[ns]++; - } - - void clearMarkerId(const std::string & ns) { marker_id_[ns] = 0; } -}; - -#endif // PLANNING_ERROR_MONITOR__DEBUG_MARKER_HPP_ diff --git a/planning/planning_error_monitor/include/planning_error_monitor/invalid_trajectory_publisher.hpp b/planning/planning_error_monitor/include/planning_error_monitor/invalid_trajectory_publisher.hpp deleted file mode 100644 index 33ed7f606b4a3..0000000000000 --- a/planning/planning_error_monitor/include/planning_error_monitor/invalid_trajectory_publisher.hpp +++ /dev/null @@ -1,46 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef PLANNING_ERROR_MONITOR__INVALID_TRAJECTORY_PUBLISHER_HPP_ -#define PLANNING_ERROR_MONITOR__INVALID_TRAJECTORY_PUBLISHER_HPP_ - -#include - -#include - -#include - -namespace planning_diagnostics -{ -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; - -class InvalidTrajectoryPublisherNode : public rclcpp::Node -{ -public: - explicit InvalidTrajectoryPublisherNode(const rclcpp::NodeOptions & node_options); - void onCurrentTrajectory(const Trajectory::ConstSharedPtr msg); - void onTimer(); - -private: - // ROS - rclcpp::Subscription::SharedPtr traj_sub_; - rclcpp::Publisher::SharedPtr traj_pub_; - rclcpp::TimerBase::SharedPtr timer_; - - Trajectory::ConstSharedPtr current_trajectory_ = nullptr; -}; -} // namespace planning_diagnostics - -#endif // PLANNING_ERROR_MONITOR__INVALID_TRAJECTORY_PUBLISHER_HPP_ diff --git a/planning/planning_error_monitor/include/planning_error_monitor/planning_error_monitor_node.hpp b/planning/planning_error_monitor/include/planning_error_monitor/planning_error_monitor_node.hpp deleted file mode 100644 index b38a95f61d5c0..0000000000000 --- a/planning/planning_error_monitor/include/planning_error_monitor/planning_error_monitor_node.hpp +++ /dev/null @@ -1,81 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#ifndef PLANNING_ERROR_MONITOR__PLANNING_ERROR_MONITOR_NODE_HPP_ -#define PLANNING_ERROR_MONITOR__PLANNING_ERROR_MONITOR_NODE_HPP_ - -#include "planning_error_monitor/debug_marker.hpp" - -#include -#include - -#include -#include - -#include - -namespace planning_diagnostics -{ -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; -using diagnostic_updater::DiagnosticStatusWrapper; -using diagnostic_updater::Updater; - -class PlanningErrorMonitorNode : public rclcpp::Node -{ -public: - explicit PlanningErrorMonitorNode(const rclcpp::NodeOptions & node_options); - - void onCurrentTrajectory(const Trajectory::ConstSharedPtr msg); - void onTimer(); - - void onTrajectoryPointValueChecker(DiagnosticStatusWrapper & stat); - void onTrajectoryIntervalChecker(DiagnosticStatusWrapper & stat); - void onTrajectoryCurvatureChecker(DiagnosticStatusWrapper & stat); - void onTrajectoryRelativeAngleChecker(DiagnosticStatusWrapper & stat); - static bool checkTrajectoryRelativeAngle( - const Trajectory & traj, const double relative_angle_threshold, const double min_dist_threshold, - std::string & error_msg, PlanningErrorMonitorDebugNode & debug_marker); - - static bool checkTrajectoryPointValue(const Trajectory & traj, std::string & error_msg); - static bool checkTrajectoryInterval( - const Trajectory & traj, const double & interval_threshold, std::string & error_msg, - PlanningErrorMonitorDebugNode & debug_marker); - static bool checkTrajectoryCurvature( - const Trajectory & traj, const double & curvature_threshold, std::string & error_msg, - PlanningErrorMonitorDebugNode & debug_marker); - -private: - static bool checkFinite(const TrajectoryPoint & p); - static size_t getIndexAfterDistance( - const Trajectory & traj, const size_t curr_id, const double distance); - - // ROS - rclcpp::Subscription::SharedPtr traj_sub_; - rclcpp::TimerBase::SharedPtr timer_; - Updater updater_{this}; - - Trajectory::ConstSharedPtr current_trajectory_; - - // Parameter - double error_interval_; - double error_curvature_; - double error_sharp_angle_; - double ignore_too_close_points_; - - PlanningErrorMonitorDebugNode debug_marker_; -}; -} // namespace planning_diagnostics - -#endif // PLANNING_ERROR_MONITOR__PLANNING_ERROR_MONITOR_NODE_HPP_ diff --git a/planning/planning_error_monitor/launch/invalid_trajectory_publisher.launch.xml b/planning/planning_error_monitor/launch/invalid_trajectory_publisher.launch.xml deleted file mode 100644 index 2a55b62191017..0000000000000 --- a/planning/planning_error_monitor/launch/invalid_trajectory_publisher.launch.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - - - - - - diff --git a/planning/planning_error_monitor/launch/planning_error_monitor.launch.xml b/planning/planning_error_monitor/launch/planning_error_monitor.launch.xml deleted file mode 100644 index 438583840a8e7..0000000000000 --- a/planning/planning_error_monitor/launch/planning_error_monitor.launch.xml +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/planning/planning_error_monitor/media/curvature_calculation_diagram.svg b/planning/planning_error_monitor/media/curvature_calculation_diagram.svg deleted file mode 100644 index b1d69058c8dab..0000000000000 --- a/planning/planning_error_monitor/media/curvature_calculation_diagram.svg +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - - - - - -
-
-
- - Current Point - -
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zSXcTL8K%ntvl={&-1RTD(Ag@!}53KoUsI5Zpwn63&jVPQ`SmwT89Q>Bf>T^PU|rUjndgF*Eit_2kw?aUsH271o{`_g!<^&tJ? zagf@S%SPY5Yg+q$*S9!ub)20G-(8&lbW!3{`rjAehz{56s9H=9sbD4|vA7+>U2L9s zO{68&TXNh~i?3!E(sd@U$Es>hoib1R`G_v1ZGxVf0fSX;^zY&_Yoq&4#%=_JqdjJ6 z$=qWqYvd%fv5+OhHEA0i=B3}_Xz?h7)&=-6_uVApFV0WYM23uw^8KF#b5R`;t - - - planning_error_monitor - 0.1.0 - ros node for monitoring planning error - Yutaka Shimizu - Apache License 2.0 - - Yutaka Shimizu - - ament_cmake_auto - - autoware_cmake - - autoware_auto_planning_msgs - diagnostic_updater - geometry_msgs - rclcpp - rclcpp_components - tf2 - tf2_ros - tier4_autoware_utils - visualization_msgs - - ament_cmake_ros - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/planning/planning_error_monitor/src/debug_marker.cpp b/planning/planning_error_monitor/src/debug_marker.cpp deleted file mode 100644 index 60404d2059793..0000000000000 --- a/planning/planning_error_monitor/src/debug_marker.cpp +++ /dev/null @@ -1,88 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "planning_error_monitor/debug_marker.hpp" - -#include - -#include -#include -#include - -using visualization_msgs::msg::Marker; - -PlanningErrorMonitorDebugNode::PlanningErrorMonitorDebugNode() {} - -void PlanningErrorMonitorDebugNode::initialize(rclcpp::Node * node) -{ - node_ = node; - debug_viz_pub_ = - node_->create_publisher("~/debug/marker", 1); - initialized = true; -} - -void PlanningErrorMonitorDebugNode::pushPoseMarker( - const geometry_msgs::msg::Pose & pose, const std::string & ns, int id) -{ - if (!initialized) { - return; - } - // append arrow marker - Marker marker{}; - marker.header.frame_id = "map"; - marker.header.stamp = node_->get_clock()->now(); - marker.ns = ns; - marker.id = getMarkerId(ns); - marker.lifetime = rclcpp::Duration::from_seconds(0.2); - marker.type = Marker::ARROW; - marker.action = Marker::ADD; - marker.pose = pose; - marker.scale = tier4_autoware_utils::createMarkerScale(0.2, 0.1, 0.3); - if (id == 0) // Red - { - marker.color = tier4_autoware_utils::createMarkerColor(1.0, 0.0, 0.0, 0.999); - } - if (id == 1) // Green - { - marker.color = tier4_autoware_utils::createMarkerColor(0.0, 1.0, 0.0, 0.999); - } - if (id == 2) // Blue - { - marker.color = tier4_autoware_utils::createMarkerColor(0.0, 0.0, 1.0, 0.999); - } - marker_array_.markers.push_back(marker); -} - -void PlanningErrorMonitorDebugNode::clearPoseMarker(const std::string & ns) -{ - clearMarkerId(ns); - - if (marker_array_.markers.empty()) { - return; - } - - for (int i = static_cast(marker_array_.markers.size()) - 1; i >= 0; i--) { - if (marker_array_.markers.at(i).ns == ns) { - // clear markers with the namespace "ns" - marker_array_.markers.erase(marker_array_.markers.begin() + i); - } - } -} - -void PlanningErrorMonitorDebugNode::publish() -{ - if (initialized) { - debug_viz_pub_->publish(marker_array_); - } -} diff --git a/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp b/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp deleted file mode 100644 index 2931b00939cef..0000000000000 --- a/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp +++ /dev/null @@ -1,78 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "planning_error_monitor/invalid_trajectory_publisher.hpp" - -#include -#include -#include - -namespace planning_diagnostics -{ -InvalidTrajectoryPublisherNode::InvalidTrajectoryPublisherNode( - const rclcpp::NodeOptions & node_options) -: Node("invalid_trajectory_publisher", node_options) -{ - using std::placeholders::_1; - using std::chrono_literals::operator""ms; - - traj_sub_ = create_subscription( - "~/input/trajectory", 1, - std::bind(&InvalidTrajectoryPublisherNode::onCurrentTrajectory, this, _1)); - - traj_pub_ = create_publisher("~/output/trajectory", 1); - - timer_ = rclcpp::create_timer( - this, get_clock(), 100ms, std::bind(&InvalidTrajectoryPublisherNode::onTimer, this)); -} - -void InvalidTrajectoryPublisherNode::onTimer() -{ - if (!current_trajectory_) { - RCLCPP_INFO(this->get_logger(), "waiting trajectory"); - return; - } - if (current_trajectory_->points.empty()) { - RCLCPP_INFO(this->get_logger(), "waiting trajectory"); - return; - } - - constexpr auto ADDED_VALUE = 1.0e3; - - auto output = *current_trajectory_; - auto & p = output.points.back().pose.position; - p.x += ADDED_VALUE; - p.y += ADDED_VALUE; - p.z += ADDED_VALUE; - - traj_pub_->publish(output); - - RCLCPP_INFO(this->get_logger(), "invalid trajectory is published."); - - bool EXIT_AFTER_PUBLISH = false; - if (EXIT_AFTER_PUBLISH) { - exit(0); - } -} - -void InvalidTrajectoryPublisherNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr msg) -{ - current_trajectory_ = msg; - traj_sub_.reset(); -} - -} // namespace planning_diagnostics - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(planning_diagnostics::InvalidTrajectoryPublisherNode) diff --git a/planning/planning_error_monitor/src/planning_error_monitor_node.cpp b/planning/planning_error_monitor/src/planning_error_monitor_node.cpp deleted file mode 100644 index 4a8b7bbda8a80..0000000000000 --- a/planning/planning_error_monitor/src/planning_error_monitor_node.cpp +++ /dev/null @@ -1,312 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "planning_error_monitor/planning_error_monitor_node.hpp" - -#include - -#include -#include -#include - -namespace planning_diagnostics -{ -using diagnostic_msgs::msg::DiagnosticStatus; -using tier4_autoware_utils::calcCurvature; -using tier4_autoware_utils::calcDistance2d; - -PlanningErrorMonitorNode::PlanningErrorMonitorNode(const rclcpp::NodeOptions & node_options) -: Node("planning_error_monitor", node_options) -{ - using std::placeholders::_1; - using std::chrono_literals::operator""ms; - - debug_marker_.initialize(this); - - traj_sub_ = create_subscription( - "~/input/trajectory", 1, std::bind(&PlanningErrorMonitorNode::onCurrentTrajectory, this, _1)); - - updater_.setHardwareID("planning_error_monitor"); - - updater_.add( - "trajectory_point_validation", this, &PlanningErrorMonitorNode::onTrajectoryPointValueChecker); - updater_.add( - "trajectory_interval_validation", this, &PlanningErrorMonitorNode::onTrajectoryIntervalChecker); - updater_.add( - "trajectory_curvature_validation", this, - &PlanningErrorMonitorNode::onTrajectoryCurvatureChecker); - updater_.add( - "trajectory_relative_angle_validation", this, - &PlanningErrorMonitorNode::onTrajectoryRelativeAngleChecker); - - timer_ = rclcpp::create_timer( - this, get_clock(), 100ms, std::bind(&PlanningErrorMonitorNode::onTimer, this)); - - // Parameter - error_interval_ = declare_parameter("error_interval", 100.0); - error_curvature_ = declare_parameter("error_curvature", 1.0); - error_sharp_angle_ = declare_parameter("error_sharp_angle", M_PI_4); - ignore_too_close_points_ = declare_parameter("ignore_too_close_points", 0.05); -} - -void PlanningErrorMonitorNode::onTimer() -{ - updater_.force_update(); - debug_marker_.publish(); -} - -void PlanningErrorMonitorNode::onCurrentTrajectory(const Trajectory::ConstSharedPtr msg) -{ - current_trajectory_ = msg; -} - -void PlanningErrorMonitorNode::onTrajectoryPointValueChecker(DiagnosticStatusWrapper & stat) -{ - if (!current_trajectory_) { - stat.summary(DiagnosticStatus::OK, "No trajectory message was set."); - return; - } - - std::string error_msg; - const auto diag_level = checkTrajectoryPointValue(*current_trajectory_, error_msg) - ? DiagnosticStatus::OK - : DiagnosticStatus::ERROR; - stat.summary(diag_level, error_msg); -} - -void PlanningErrorMonitorNode::onTrajectoryIntervalChecker(DiagnosticStatusWrapper & stat) -{ - if (!current_trajectory_) { - stat.summary(DiagnosticStatus::OK, "No trajectory message was set."); - return; - } - - std::string error_msg; - const auto diag_level = - checkTrajectoryInterval(*current_trajectory_, error_interval_, error_msg, debug_marker_) - ? DiagnosticStatus::OK - : DiagnosticStatus::ERROR; - stat.summary(diag_level, error_msg); -} - -void PlanningErrorMonitorNode::onTrajectoryCurvatureChecker(DiagnosticStatusWrapper & stat) -{ - if (!current_trajectory_) { - stat.summary(DiagnosticStatus::OK, "No trajectory message was set."); - return; - } - - std::string error_msg; - const auto diag_level = - checkTrajectoryCurvature(*current_trajectory_, error_curvature_, error_msg, debug_marker_) - ? DiagnosticStatus::OK - : DiagnosticStatus::ERROR; - stat.summary(diag_level, error_msg); -} - -void PlanningErrorMonitorNode::onTrajectoryRelativeAngleChecker(DiagnosticStatusWrapper & stat) -{ - if (!current_trajectory_) { - stat.summary(DiagnosticStatus::OK, "No trajectory message was set."); - return; - } - - std::string error_msg; - const auto diag_level = - checkTrajectoryRelativeAngle( - *current_trajectory_, error_sharp_angle_, ignore_too_close_points_, error_msg, debug_marker_) - ? DiagnosticStatus::OK - : DiagnosticStatus::ERROR; - stat.summary(diag_level, error_msg); -} - -bool PlanningErrorMonitorNode::checkTrajectoryPointValue( - const Trajectory & traj, std::string & error_msg) -{ - error_msg = "This Trajectory doesn't have any invalid values"; - for (const auto & p : traj.points) { - if (!checkFinite(p)) { - error_msg = "This trajectory has an infinite value"; - return false; - } - } - return true; -} - -bool PlanningErrorMonitorNode::checkFinite(const TrajectoryPoint & point) -{ - const auto & o = point.pose.orientation; - const auto & p = point.pose.position; - const auto & v = point.longitudinal_velocity_mps; - const auto & w = point.heading_rate_rps; - const auto & a = point.acceleration_mps2; - - const bool quat_result = - std::isfinite(o.x) && std::isfinite(o.y) && std::isfinite(o.z) && std::isfinite(o.w); - const bool p_result = std::isfinite(p.x) && std::isfinite(p.y) && std::isfinite(p.z); - const bool v_result = std::isfinite(v); - const bool w_result = std::isfinite(w); - const bool a_result = std::isfinite(a); - - return quat_result && p_result && v_result && w_result && a_result; -} - -bool PlanningErrorMonitorNode::checkTrajectoryInterval( - const Trajectory & traj, const double & interval_threshold, std::string & error_msg, - PlanningErrorMonitorDebugNode & debug_marker) -{ - error_msg = "Trajectory Interval Length is within the expected range"; - debug_marker.clearPoseMarker("trajectory_interval"); - for (size_t i = 1; i < traj.points.size(); ++i) { - double ds = calcDistance2d(traj.points.at(i), traj.points.at(i - 1)); - - if (ds > interval_threshold) { - error_msg = "Trajectory Interval Length is longer than the expected range"; - debug_marker.pushPoseMarker(traj.points.at(i - 1).pose, "trajectory_interval"); - debug_marker.pushPoseMarker(traj.points.at(i).pose, "trajectory_interval"); - return false; - } - } - return true; -} - -bool PlanningErrorMonitorNode::checkTrajectoryRelativeAngle( - const Trajectory & traj, const double angle_threshold, const double min_dist_threshold, - std::string & error_msg, PlanningErrorMonitorDebugNode & debug_marker) -{ - error_msg = "This trajectory's relative angle is within the expected range"; - debug_marker.clearPoseMarker("trajectory_relative_angle"); - - // We need at least three points to compute relative angle - const size_t relative_angle_points_num = 3; - if (traj.points.size() < relative_angle_points_num) { - return true; - } - - for (size_t p1_id = 0; p1_id <= traj.points.size() - relative_angle_points_num; ++p1_id) { - // Get Point1 - const auto & p1 = traj.points.at(p1_id).pose.position; - - // Get Point2 - const auto & p2 = traj.points.at(p1_id + 1).pose.position; - - // Get Point3 - const auto & p3 = traj.points.at(p1_id + 2).pose.position; - - // ignore invert driving direction - if ( - traj.points.at(p1_id).longitudinal_velocity_mps < 0 || - traj.points.at(p1_id + 1).longitudinal_velocity_mps < 0 || - traj.points.at(p1_id + 2).longitudinal_velocity_mps < 0) { - continue; - } - - // convert to p1 coordinate - const double x3 = p3.x - p1.x; - const double x2 = p2.x - p1.x; - const double y3 = p3.y - p1.y; - const double y2 = p2.y - p1.y; - - // skip too close points case - if (std::hypot(x3, y3) < min_dist_threshold || std::hypot(x2, y2) < min_dist_threshold) { - continue; - } - - // calculate relative angle of vector p3 based on p1p2 vector - const double th = std::atan2(y2, x2); - const double th2 = - std::atan2(-x3 * std::sin(th) + y3 * std::cos(th), x3 * std::cos(th) + y3 * std::sin(th)); - if (std::abs(th2) > angle_threshold) { - error_msg = "This Trajectory's relative angle has larger value than the expected value"; - // std::cout << error_msg << std::endl; - debug_marker.pushPoseMarker(traj.points.at(p1_id).pose, "trajectory_relative_angle", 0); - debug_marker.pushPoseMarker(traj.points.at(p1_id + 1).pose, "trajectory_relative_angle", 1); - debug_marker.pushPoseMarker(traj.points.at(p1_id + 2).pose, "trajectory_relative_angle", 2); - return false; - } - } - return true; -} -bool PlanningErrorMonitorNode::checkTrajectoryCurvature( - const Trajectory & traj, const double & curvature_threshold, std::string & error_msg, - PlanningErrorMonitorDebugNode & debug_marker) -{ - error_msg = "This trajectory's curvature is within the expected range"; - debug_marker.clearPoseMarker("trajectory_curvature"); - - // We need at least three points to compute curvature - if (traj.points.size() < 3) { - return true; - } - - constexpr double points_distance = 1.0; - const auto isValidDistance = [points_distance](const auto & p1, const auto & p2) { - return calcDistance2d(p1, p2) >= points_distance; - }; - - for (size_t p1_id = 0; p1_id < traj.points.size() - 2; ++p1_id) { - // Get Point1 - const auto p1 = traj.points.at(p1_id).pose.position; - - // Get Point2 - const auto p2_id = getIndexAfterDistance(traj, p1_id, points_distance); - const auto p2 = traj.points.at(p2_id).pose.position; - - // Get Point3 - const auto p3_id = getIndexAfterDistance(traj, p2_id, points_distance); - const auto p3 = traj.points.at(p3_id).pose.position; - - // no need to check for pi, since there is no point with "points_distance" from p1. - if (p1_id == p2_id || p1_id == p3_id || p2_id == p3_id) { - break; - } - if (!isValidDistance(p1, p2) || !isValidDistance(p1, p3) || !isValidDistance(p2, p3)) { - break; - } - - const double curvature = calcCurvature(p1, p2, p3); - - if (std::fabs(curvature) > curvature_threshold) { - error_msg = "This Trajectory's curvature has larger value than the expected value"; - debug_marker.pushPoseMarker(traj.points.at(p1_id).pose, "trajectory_curvature"); - debug_marker.pushPoseMarker(traj.points.at(p2_id).pose, "trajectory_curvature"); - debug_marker.pushPoseMarker(traj.points.at(p3_id).pose, "trajectory_curvature"); - return false; - } - } - return true; -} - -size_t PlanningErrorMonitorNode::getIndexAfterDistance( - const Trajectory & traj, const size_t curr_id, const double distance) -{ - // Get Current Trajectory Point - const TrajectoryPoint & curr_p = traj.points.at(curr_id); - - size_t target_id = curr_id; - double current_distance = 0.0; - for (size_t traj_id = curr_id + 1; traj_id < traj.points.size(); ++traj_id) { - current_distance = calcDistance2d(traj.points.at(traj_id), curr_p); - if (current_distance >= distance) { - target_id = traj_id; - break; - } - } - - return target_id; -} -} // namespace planning_diagnostics - -#include -RCLCPP_COMPONENTS_REGISTER_NODE(planning_diagnostics::PlanningErrorMonitorNode) diff --git a/planning/planning_error_monitor/test/src/test_main.cpp b/planning/planning_error_monitor/test/src/test_main.cpp deleted file mode 100644 index 399bcff8f918b..0000000000000 --- a/planning/planning_error_monitor/test/src/test_main.cpp +++ /dev/null @@ -1,26 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include - -#include - -int main(int argc, char ** argv) -{ - testing::InitGoogleTest(&argc, argv); - rclcpp::init(argc, argv); - bool result = RUN_ALL_TESTS(); - rclcpp::shutdown(); - return result; -} diff --git a/planning/planning_error_monitor/test/src/test_planning_error_monitor_functions.cpp b/planning/planning_error_monitor/test/src/test_planning_error_monitor_functions.cpp deleted file mode 100644 index 5513252b5fad9..0000000000000 --- a/planning/planning_error_monitor/test/src/test_planning_error_monitor_functions.cpp +++ /dev/null @@ -1,157 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "planning_error_monitor/planning_error_monitor_node.hpp" -#include "test_planning_error_monitor_helper.hpp" - -#include - -#include - -constexpr double NOMINAL_INTERVAL = 1.0; -constexpr double ERROR_INTERVAL = 1000.0; -constexpr double ERROR_CURVATURE = 2.0; - -TEST(PlanningErrorMonitor, ValidValueChecker) -{ - using autoware_auto_planning_msgs::msg::Trajectory; - using planning_diagnostics::PlanningErrorMonitorNode; - - // Valid Trajectory - Trajectory valid_traj = generateTrajectory(NOMINAL_INTERVAL); - - std::string valid_error_msg; - ASSERT_TRUE(PlanningErrorMonitorNode::checkTrajectoryPointValue(valid_traj, valid_error_msg)); - ASSERT_EQ(valid_error_msg, "This Trajectory doesn't have any invalid values"); - - // Nan Trajectory - Trajectory nan_traj = generateNanTrajectory(); - - std::string nan_error_msg; - ASSERT_FALSE(PlanningErrorMonitorNode::checkTrajectoryPointValue(nan_traj, nan_error_msg)); - ASSERT_EQ(nan_error_msg, "This trajectory has an infinite value"); - - // Inf Trajectory - Trajectory inf_traj = generateInfTrajectory(); - - std::string inf_error_msg; - ASSERT_FALSE(PlanningErrorMonitorNode::checkTrajectoryPointValue(inf_traj, inf_error_msg)); - ASSERT_EQ(nan_error_msg, "This trajectory has an infinite value"); -} - -TEST(PlanningErrorMonitor, TrajectoryIntervalChecker) -{ - using autoware_auto_planning_msgs::msg::Trajectory; - using planning_diagnostics::PlanningErrorMonitorNode; - PlanningErrorMonitorDebugNode debug_marker; - // Normal Trajectory - { - Trajectory valid_traj = generateTrajectory(NOMINAL_INTERVAL); - - std::string valid_msg; - ASSERT_TRUE(PlanningErrorMonitorNode::checkTrajectoryInterval( - valid_traj, ERROR_INTERVAL, valid_msg, debug_marker)); - ASSERT_EQ(valid_msg, "Trajectory Interval Length is within the expected range"); - - std::string boundary_msg; - ASSERT_TRUE(PlanningErrorMonitorNode::checkTrajectoryInterval( - valid_traj, NOMINAL_INTERVAL, boundary_msg, debug_marker)); - ASSERT_EQ(boundary_msg, "Trajectory Interval Length is within the expected range"); - } - - // Long Interval Trajectory - { - Trajectory long_interval_traj = generateTrajectory(ERROR_INTERVAL); - std::string long_interval_error_msg; - ASSERT_FALSE(PlanningErrorMonitorNode::checkTrajectoryInterval( - long_interval_traj, NOMINAL_INTERVAL, long_interval_error_msg, debug_marker)); - ASSERT_EQ( - long_interval_error_msg, "Trajectory Interval Length is longer than the expected range"); - } -} - -TEST(PlanningErrorMonitor, TrajectoryCurvatureChecker) -{ - using autoware_auto_planning_msgs::msg::Trajectory; - using planning_diagnostics::PlanningErrorMonitorNode; - PlanningErrorMonitorDebugNode debug_marker; - // Normal Trajectory - { - Trajectory valid_traj = generateTrajectory(NOMINAL_INTERVAL); - std::string valid_error_msg; - ASSERT_TRUE(PlanningErrorMonitorNode::checkTrajectoryCurvature( - valid_traj, ERROR_CURVATURE, valid_error_msg, debug_marker)); - ASSERT_EQ(valid_error_msg, "This trajectory's curvature is within the expected range"); - } -} - -TEST(PlanningErrorMonitor, TrajectoryRelativeAngleChecker) -{ - using autoware_auto_planning_msgs::msg::Trajectory; - using planning_diagnostics::PlanningErrorMonitorNode; - PlanningErrorMonitorDebugNode debug_marker; - const double too_close_dist = 0.05; - const double too_sharp_turn = M_PI_4; - { - /** - * y: 0 0 0 0&INF 0 0 0 0 0 0 - **/ - Trajectory valid_traj = generateTrajectory(NOMINAL_INTERVAL); - valid_traj.points[4].pose.position.x = 3; - valid_traj.points[4].pose.position.y = 10; - // for (auto t : valid_traj.points) { - // std::cout << "p: (x , y) = " << "( "< -#include - -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_auto_planning_msgs::msg::TrajectoryPoint; - -inline Trajectory generateTrajectory(double interval_distance) -{ - Trajectory traj; - for (double s = 0.0; s <= 10.0 * interval_distance; s += interval_distance) { - TrajectoryPoint p; - p.pose.position.x = s; - p.longitudinal_velocity_mps = 1.0; - traj.points.push_back(p); - } - return traj; -} - -inline Trajectory generateNanTrajectory() -{ - Trajectory traj = generateTrajectory(1.0); - traj.points.front().pose.position.x = NAN; - return traj; -} - -inline Trajectory generateInfTrajectory() -{ - Trajectory traj = generateTrajectory(1.0); - traj.points.front().pose.position.x = INFINITY; - return traj; -} - -inline Trajectory generateBadCurvatureTrajectory() -{ - Trajectory traj; - - double y = 1.5; - for (double s = 0.0; s <= 10.0; s += 1.0) { - TrajectoryPoint p; - p.longitudinal_velocity_mps = 1.0; - p.pose.position.x = s; - p.pose.position.y = y; - y *= -1.0; // invert sign - traj.points.push_back(p); - } - - return traj; -} - -#endif // TEST_PLANNING_ERROR_MONITOR_HELPER_HPP_ diff --git a/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp b/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp deleted file mode 100644 index e5002afcff7f2..0000000000000 --- a/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp +++ /dev/null @@ -1,129 +0,0 @@ -// Copyright 2021 Tier IV, Inc. -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. - -#include "planning_error_monitor/planning_error_monitor_node.hpp" -#include "test_planning_error_monitor_helper.hpp" - -#include - -#include - -#include -#include - -constexpr double NOMINAL_INTERVAL = 1.0; -constexpr double ERROR_INTERVAL = 1000.0; -constexpr double ERROR_CURVATURE = 2.0; - -using autoware_auto_planning_msgs::msg::Trajectory; -using diagnostic_msgs::msg::DiagnosticArray; -using diagnostic_msgs::msg::DiagnosticStatus; -using planning_diagnostics::PlanningErrorMonitorNode; - -class PubSubManager : public rclcpp::Node -{ -public: - PubSubManager() : Node("test_pub_sub") - { - traj_pub_ = create_publisher("/planning_error_monitor/input/trajectory", 1); - diag_sub_ = create_subscription( - "/diagnostics", 1, - [this](const DiagnosticArray::ConstSharedPtr msg) { received_diags_.push_back(msg); }); - } - - rclcpp::Publisher::SharedPtr traj_pub_; - rclcpp::Subscription::SharedPtr diag_sub_; - - std::vector received_diags_; -}; - -void spinSome(rclcpp::Node::SharedPtr node_ptr) -{ - for (int i = 0; i < 50; ++i) { - rclcpp::spin_some(node_ptr); - rclcpp::WallRate(100).sleep(); - } -} - -bool isAllOK(const std::vector & diags) -{ - for (const auto & diag : diags) { - for (const auto & status : diag->status) { - if (status.level != DiagnosticStatus::OK) { - return false; - } - } - } - return true; -} - -bool hasError(const std::vector & diags) -{ - for (const auto & diag : diags) { - for (const auto & status : diag->status) { - if (status.level == DiagnosticStatus::ERROR) { - return true; - } - } - } - return false; -} - -void runWithOKTrajectory(const Trajectory & trajectory) -{ - auto error_monitor = std::make_shared(rclcpp::NodeOptions{}); - auto manager = std::make_shared(); - EXPECT_GE(manager->traj_pub_->get_subscription_count(), 1U) << "topic is not connected."; - - manager->traj_pub_->publish(trajectory); - spinSome(error_monitor); - spinSome(manager); - - EXPECT_GE(manager->received_diags_.size(), 1U) << "diag has not received!"; - EXPECT_TRUE(isAllOK(manager->received_diags_)); -} - -void runWithBadTrajectory(const Trajectory & trajectory) -{ - auto error_monitor = std::make_shared(rclcpp::NodeOptions{}); - auto manager = std::make_shared(); - EXPECT_GE(manager->traj_pub_->get_subscription_count(), 1U) << "topic is not connected."; - - manager->traj_pub_->publish(trajectory); - spinSome(error_monitor); - spinSome(manager); - - EXPECT_GE(manager->received_diags_.size(), 1U) << "diag has not received!"; - EXPECT_TRUE(hasError(manager->received_diags_)); -} - -// OK cases -TEST(PlanningErrorMonitor, DiagCheckForNominalTrajectory) -{ - runWithOKTrajectory(generateTrajectory(NOMINAL_INTERVAL)); -} - -// Bad cases -TEST(PlanningErrorMonitor, DiagCheckForNaNTrajectory) -{ - runWithBadTrajectory(generateNanTrajectory()); -} -TEST(PlanningErrorMonitor, DiagCheckForInfTrajectory) -{ - runWithBadTrajectory(generateInfTrajectory()); -} -TEST(PlanningErrorMonitor, DiagCheckForTooLongIntervalTrajectory) -{ - runWithBadTrajectory(generateTrajectory(ERROR_INTERVAL)); -}