nav2_costmap_2d: fix unit tests following change

Signed-off-by: Dylan De Coeyer <[email protected]>

Author: DylanDeCoeyer-Quimesis

nav2_costmap_2d/test/integration/inflation_tests.cpp

@@ -462,7 +462,7 @@ TEST_F(TestNode, testInflation)
   layers.updateMap(0, 0, 0);
   // printMap(*costmap);
   ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 20u);
-  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 28u);
+  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 78u);
 
   /*/ Iterate over all id's and verify they are obstacles
   for(std::vector<unsigned int>::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){
@@ -480,7 +480,7 @@ TEST_F(TestNode, testInflation)
   // It and its 2 neighbors makes 3 obstacles
   ASSERT_EQ(
     countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE) +
-    countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 51u);
+    countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 98u);
 
   // @todo Rewrite
   // Add an obstacle at <2,0> which will inflate and refresh to of the other inflated cells
@@ -494,7 +494,7 @@ TEST_F(TestNode, testInflation)
   // at <0, 1>
   ASSERT_EQ(
     countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE) +
-    countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 54u);
+    countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 98u);
 
   // Add an obstacle at <1, 9>. This will inflate obstacles around it
   addObservation(olayer, 1, 9);

nav2_costmap_2d/test/integration/plugin_container_tests.cpp

@@ -268,7 +268,7 @@ TEST_F(TestNode, testDifferentInflationLayers) {
   nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();
 
   ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
-  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 4);
+  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 77);
 }
 
 TEST_F(TestNode, testDifferentInflationLayers2) {
@@ -317,7 +317,7 @@ TEST_F(TestNode, testDifferentInflationLayers2) {
   nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();
 
   ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
-  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 28);
+  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 77);
 }
 
 TEST_F(TestNode, testResetting) {
@@ -447,7 +447,7 @@ TEST_F(TestNode, testClearing) {
   nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();
 
   ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 21);
-  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 29);
+  ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 77);
   ASSERT_EQ(olayer_b->getCost(9, 9), nav2_costmap_2d::LETHAL_OBSTACLE);
 
   pclayer_a->clearArea(-1, -1, 10, 10, false);