10 #include <gtest/gtest.h>
14 #include <test_mrpt_common.h>
16 TEST(PlannerSimple2D, findPath)
18 using namespace std::string_literals;
20 const auto fil = mrpt::UNITTEST_BASEDIR +
21 "/share/mrpt/datasets/2006-MalagaCampus.gridmap.gz"s;
37 std::deque<mrpt::math::TPoint2D> thePath;
40 pathPlanning.
computePath(gridmap, origin, target, thePath, notFound);
42 EXPECT_FALSE(notFound);
50 std::deque<mrpt::math::TPoint2D> thePath;
54 gridmap, origin, target, thePath, notFound,
57 EXPECT_FALSE(notFound);
66 std::deque<mrpt::math::TPoint2D> thePath;
70 gridmap, origin, target, thePath, notFound,
77 std::deque<mrpt::math::TPoint2D> thePath;
81 gridmap, origin, target, thePath, notFound,