def METHOD_NAME(self):
    # Test if line cost is calculated correctly
    # Create test grid 10 pixels wide by 10 pixels long, at 1 meters per pixel
    # AKA 10 meters x 10 meters
    occupancyGrid_ = OccupancyGrid()
    occupancyGrid_.info.resolution = 1.0
    occupancyGrid_.info.width = 10
    occupancyGrid_.info.height = 10
    occupancyGrid_.info.origin.position.x = 0.0
    occupancyGrid_.info.origin.position.y = 0.0
    map_data = [0] * 10 * 10
    occupancyGrid_.data = map_data
    costmap_ = PyCostmap2D(occupancyGrid_)
    fcc_ = FootprintCollisionChecker()
    fcc_.setCostmap(costmap_)
    self.assertRaises(IndexError, fcc_.lineCost, 0, 15, 0, 9, 1)
    self.assertEqual(fcc_.lineCost(0, 9, 0, 9, 1), 0.0)