*Tricentis 2021 Report: How The World's Top Organizations Test7 Aurora Innovation Agenda What is continuous regression testing How does regression testing work in practice How to build a regression testing Aurora Innovation Everything could go wrong “The inherent complexity of the real world and the continuous change of requirements result in large and complex software systems that are costly and dif�cult con�dence "Write tests. Not too many. Mostly integration." - Guillermo Rauch17 Aurora Innovation Continuous regression testing Continuously verifying that the software works as well as before, during the

4About Me Other interests: Game engines Meta-programming 5Robot path planning 6Robot path planning Path planning 7Path planning How an (autonomous) agent figures out how to get from one location to level goals of this talk Implement cache-friendly path planning code in C++ 29High level goals of this talk Implement cache-friendly path planning code in C++ Do so using the STL 30High level goals of Implement cache-friendly path planning code in C++ Do so using the STL Try to keep our choices simple 31High level goals of this talk Implement cache-friendly path planning code in C++ Do so using the

simulation ○ Wheeled robots: navigation, localization, 3D perception ○ Robotic arms: control, motion planning ○ Tooling: logging, data visualization ● I love C++, and I learnt a lot thanks to CPPCon videos

platform 02 03 04 Code reuse through libraries Building correct, secure, and safe systems Planning for the future Agenda Resources for learning modern C++ 0501 Obtaining tools for your platform platform 02 03 04 Code reuse through libraries Building correct, secure, and safe systems Planning for the future Agenda Resources for learning modern C++ 05Tools for your platform Build & platform 02 03 04 Code reuse through libraries Building correct, secure, and safe systems Planning for the future Agenda Resources for learning modern C++ 0501 Obtaining tools for your platform

dimensions rows are not continuous computers already panny2 submaps small region within the larger occupancy grid typically used to constrain the planning scene for navigation usually centered on the position of the robot 47github.com/griswaldbrooks/spanny2 orientation-aware/rotated submaps have a fixed view relative to the robot meaning a consistent planning scene, increasing determinacygithub.com/griswaldbrooks/spanny2 rotated submaps: custom layout

. . . . . . . . . . . . . . . . . . . . . . . . . . . 99 9.9 Conan local cache: concurrency, Continuous Integration, isolation . . . . . . . . . . . . . . . . . . . 100 10 Systems and cross building general guidelines. • Ensure that there is no other conan package for the same library. If you are planning to support a new version of a library that already exists in the conan-center repository, please other configuration 99 conan Documentation, Release 1.3.3 9.9 Conan local cache: concurrency, Continuous Integration, isola- tion Conan needs access to some, per user, configuration files, as the conan

. . . . . . . . . . . . . . . . . . . . . . . . . . 105 9.10 Conan local cache: concurrency, Continuous Integration, isolation . . . . . . . . . . . . . . . . . . . 105 10 Systems and cross building guidelines. • Ensure that there is no additional Conan package for the same library. If you are planning to support a new version of a library that already exists in the conan-center repository, please more in the section reference/commands/conan config install. 9.10 Conan local cache: concurrency, Continuous Integration, isola- tion Conan needs access to some, per user, configuration files, as the conan

. . . . . . . . . . . . . . . . . . . . . . . . . . 106 10.9 Conan local cache: concurrency, Continuous Integration, isolation . . . . . . . . . . . . . . . . . . . 106 11 Systems and cross building general guidelines. • Ensure that there is no other conan package for the same library. If you are planning to support a new version of a library that already exists in the conan-center repository, please more in the section reference/commands/conan config install. 10.9 Conan local cache: concurrency, Continuous Integration, isola- tion Conan needs access to some, per user, configuration files, as the conan

. . . . . . . . . . . . . . . . . . . . . . . . . . 108 10.9 Conan local cache: concurrency, Continuous Integration, isolation . . . . . . . . . . . . . . . . . . . 108 11 Systems and cross building general guidelines. • Ensure that there is no other conan package for the same library. If you are planning to support a new version of a library that already exists in the conan-center repository, please more in the section reference/commands/conan config install. 10.9 Conan local cache: concurrency, Continuous Integration, isola- tion Conan needs access to some, per user, configuration files, as the conan

. . . . . . . . . . . . . . . . . . . . . . . . . . . 104 9.9 Conan local cache: concurrency, Continuous Integration, isolation . . . . . . . . . . . . . . . . . . . 104 10 Systems and cross building general guidelines. • Ensure that there is no other conan package for the same library. If you are planning to support a new version of a library that already exists in the conan-center repository, please more in the section reference/commands/conan config install. 9.9 Conan local cache: concurrency, Continuous Integration, isola- tion Conan needs access to some, per user, configuration files, as the conan