test(path_generator): add tests for path cut feature #268

mitukou1109 · 2025-03-12T08:51:08Z

Description

This PR adds tests for the path cut feature of path_generator.
The tests will not pass until #336 is merged.

How was this PR tested?

colcon test --packages-select autoware_path_generator --event-handlers console_cohesion+

gives the following result (excerpt):

1: [----------] 11 tests from UtilsTest
1: [ RUN      ] UtilsTest.getPreviousLaneletWithinRoute
1: [       OK ] UtilsTest.getPreviousLaneletWithinRoute (27 ms)
1: [ RUN      ] UtilsTest.getNextLaneletWithinRoute
1: [       OK ] UtilsTest.getNextLaneletWithinRoute (25 ms)
1: [ RUN      ] UtilsTest.getLaneletsWithinRouteUpTo
1: [       OK ] UtilsTest.getLaneletsWithinRouteUpTo (26 ms)
1: [ RUN      ] UtilsTest.getLaneletsWithinRouteAfter
1: [       OK ] UtilsTest.getLaneletsWithinRouteAfter (23 ms)
1: [ RUN      ] UtilsTest.getLaneletsWithinRoute
1: [       OK ] UtilsTest.getLaneletsWithinRoute (23 ms)
1: [ RUN      ] UtilsTest.getTurnSignalRequiredEndPoint
1: [       OK ] UtilsTest.getTurnSignalRequiredEndPoint (24 ms)
1: [ RUN      ] UtilsTest.getFirstSelfIntersectionArcLength
1: [       OK ] UtilsTest.getFirstSelfIntersectionArcLength (24 ms)
1: [ RUN      ] UtilsTest.getPathBound
1: �[33m[WARN] [1743127895.081260980] [path_generator.utils.get_arc_length_on_bounds]: Input arc length is negative, returning 0.�[0m
1: �[33m[WARN] [1743127895.081325408] [path_generator.utils.crop_line_string]: Start of crop range is larger than end, returning input as is�[0m
1: �[33m[WARN] [1743127895.081332864] [path_generator.utils.crop_line_string]: Start of crop range is larger than end, returning input as is�[0m
1: [       OK ] UtilsTest.getPathBound (69 ms)
1: [ RUN      ] UtilsTest.cropLineString
1: �[33m[WARN] [1743127895.106494511] [path_generator.utils.crop_line_string]: Start of crop range is negative, returning input as is�[0m
1: �[33m[WARN] [1743127895.106515802] [path_generator.utils.crop_line_string]: Start of crop range is larger than end, returning input as is�[0m
1: [       OK ] UtilsTest.cropLineString (24 ms)
1: [ RUN      ] UtilsTest.GetArcLengthOnBounds
1: �[33m[WARN] [1743127895.130032776] [path_generator.utils.get_arc_length_on_bounds]: Input arc length is negative, returning 0.�[0m
1: [       OK ] UtilsTest.GetArcLengthOnBounds (24 ms)
1: [ RUN      ] UtilsTest.GetArcLengthOnCenterline
1: �[33m[WARN] [1743127895.153370219] [path_generator.utils.get_arc_length_on_centerline]: Input left arc length is negative, returning 0.�[0m
1: �[33m[WARN] [1743127895.153386377] [path_generator.utils.get_arc_length_on_centerline]: Input right arc length is negative, returning 0.�[0m
1: [       OK ] UtilsTest.GetArcLengthOnCenterline (23 ms)
1: [----------] 11 tests from UtilsTest (312 ms total)
1: 
1: [----------] 6 tests from GetTurnSignalTest
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndBeforeDesiredStartPoint
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndBeforeDesiredStartPoint (23 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndAheadOfDesiredStartPoint
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsStoppingAndAheadOfDesiredStartPoint (25 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsMovingAndAheadOfDesiredStartPoint
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsMovingAndAheadOfDesiredStartPoint (23 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsInRequiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsInRequiredSection (24 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsInDesiredSection
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsInDesiredSection (23 ms)
1: [ RUN      ] GetTurnSignalTest.getTurnSignal/EgoIsAheadOfDesiredEndPoint
1: [       OK ] GetTurnSignalTest.getTurnSignal/EgoIsAheadOfDesiredEndPoint (24 ms)
1: [----------] 6 tests from GetTurnSignalTest (142 ms total)
1: 
1: [----------] 7 tests from GetFirstIntersectionArcLengthTest
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithGap
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithGap (31 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithFullCrossing
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithFullCrossing (30 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithHalfCrossing
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/UTurnWithHalfCrossing (31 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/Overpass
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/Overpass (32 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithStartEdgeIntersection
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithStartEdgeIntersection (30 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionBehind
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionBehind (31 ms)
1: [ RUN      ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionAhead
1: [       OK ] GetFirstIntersectionArcLengthTest.getFirstIntersectionArcLength/OverpassWithIntersectionAhead (31 ms)
1: [----------] 7 tests from GetFirstIntersectionArcLengthTest (217 ms total)

The test cases are confirmed valid by the following visualization results:

get_first_intersection_arc_length @ u-turn with full crossing
get_first_intersection_arc_length @ u-turn with half crossing
get_first_intersection_arc_length @ overpass
get_first_intersection_arc_length @ overpass, start edge intersection
get_arc_length_on_bounds

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

github-actions · 2025-03-12T08:51:18Z

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planning/autoware_path_generator/test/test_path_cut.cpp

kosuke55 · 2025-03-28T02:59:26Z

@mitukou1109 cc @soblin
Can you add new test map image to
https://github.com/autowarefoundation/autoware_core/tree/main/testing/autoware_test_utils ?

youtalk

Generally, it’s better to separate tests and refactoring into different PRs. Atomic PR is king.

planning/autoware_path_generator/include/autoware/path_generator/utils.hpp

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

youtalk

Only test additions. LGTM

kosuke55 · 2025-04-09T10:29:22Z

#336 was merged, I updated this branch but some CI failed.

mitukou1109 · 2025-04-10T05:49:14Z

There is an issue with autoware_trajectory, waiting for #365 to be merged.

kosuke55 · 2025-04-10T08:06:50Z

#365 is merged and thanks for updating branch, I'm waiting for ci result

mitukou1109 · 2025-04-10T08:38:52Z

autoware::trajectory::Trajectory::crop() now returns empty trajectory when the original one has 1 point. I will fix the corresponding test case so the test passes.

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

codecov · 2025-04-10T09:12:43Z

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 29.19%. Comparing base (4cb18f5) to head (20e3fca).
Report is 160 commits behind head on main.

Additional details and impacted files

@@             Coverage Diff             @@
##             main     #268       +/-   ##
===========================================
- Coverage   78.75%   29.19%   -49.57%     
===========================================
  Files          11      177      +166     
  Lines         193    11288    +11095     
  Branches       73     3818     +3745     
===========================================
+ Hits          152     3295     +3143     
- Misses         11     7540     +7529     
- Partials       30      453      +423

Flag	Coverage Δ
differential	`29.19% <ø> (?)`
total	`?`

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kosuke55

LGTM

mitukou1109 force-pushed the test/path_generator_path_cut branch from c38de09 to 5901168 Compare March 28, 2025 02:25

mitukou1109 marked this pull request as ready for review March 28, 2025 02:31

mitukou1109 requested review from JianKangEgon, sasakisasaki, kyoichi-sugahara, soblin, TakaHoribe, yhisaki, zulfaqar-azmi-t4, a team, kosuke55, satoshi-ota and takayuki5168 as code owners March 28, 2025 02:31

kosuke55 reviewed Mar 28, 2025

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youtalk reviewed Mar 31, 2025

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mitukou1109 mentioned this pull request Apr 3, 2025

fix(path_generator): deal with unintended input #336

Merged

mitukou1109 and others added 11 commits April 3, 2025 11:53

add map for test

6fe5a3b

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

add overpass map

9b4c728

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

refactor & enhance base test class

20394a8

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

add tests

fa2b97c

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

style(pre-commit): autofix

3ca12f9

fix year created

8a43b1a

Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

anonymize test map

5cd6755

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

style(pre-commit): autofix

22020b2

add test map info to README

61c11f8

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

style(pre-commit): autofix

eba06de

make tests work with autoware_trajectory

c3535f2

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

mitukou1109 force-pushed the test/path_generator_path_cut branch from df9dbd4 to c3535f2 Compare April 3, 2025 04:04

include necessary header

3854624

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

youtalk approved these changes Apr 9, 2025

View reviewed changes

Merge branch 'main' into test/path_generator_path_cut

55336d9

youtalk enabled auto-merge (squash) April 9, 2025 02:04

youtalk added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Apr 9, 2025

Merge branch 'main' into test/path_generator_path_cut

76d0692

Merge branch 'main' into test/path_generator_path_cut

348fbe8

Merge branch 'main' into test/path_generator_path_cut

5a7ae5a

youtalk requested a review from kosuke55 April 10, 2025 08:04

fix test case

b56f69a

Signed-off-by: mitukou1109 <mitukou1109@gmail.com>

auto-merge was automatically disabled April 10, 2025 08:42
Head branch was pushed to by a user without write access

style(pre-commit): autofix

20e3fca

kosuke55 approved these changes Apr 10, 2025

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kosuke55 merged commit efe47a3 into autowarefoundation:main Apr 10, 2025
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test(path_generator): add tests for path cut feature #268

test(path_generator): add tests for path cut feature #268

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test(path_generator): add tests for path cut feature #268

test(path_generator): add tests for path cut feature #268

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mitukou1109 commented Mar 12, 2025 • edited Loading

Description

How was this PR tested?

Notes for reviewers

Interface changes

Effects on system behavior

github-actions bot commented Mar 12, 2025 • edited Loading

kosuke55 commented Mar 28, 2025

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