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00001 /* 00002 * Copyright (c) 2009, Ingo Kresse <kresse@in.tum.de> 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 00031 #include <vector> 00032 #include <algorithm> //random_shuffle 00033 #include <math.h> 00034 #include <stdio.h> 00035 00036 #include <assert.h> 00037 00038 #include "BaseDistance.h" 00039 00040 #define Vector2 BaseDistance::Vector2 00041 00042 bool distance_test() 00043 { 00044 std::vector<Vector2> points; 00045 Vector2 n; 00046 double d, eps=0.00001; 00047 00048 BaseDistance tester; 00049 tester.setFootprint(0.8, -0.3, 0.5, -0.7, 0.1); 00050 00051 // edge cases 00052 points.push_back(Vector2(3.2f, 0.0f)); 00053 d = tester.distance(points, &n); 00054 assert((d-2.4)<eps && n.x == 3.2f && n.y == 0.0f); 00055 00056 points.push_back(Vector2(0.0f, 2.8f)); 00057 d = tester.distance(points, &n); 00058 assert((d-2.3 < eps) && n.x == 0.0f && n.y == 2.8f); 00059 00060 points.push_back(Vector2(0.0f, -2.9f)); 00061 d = tester.distance(points, &n); 00062 assert((d-2.2 < eps) && n.x == 0.0f && n.y == -2.9f); 00063 00064 points.push_back(Vector2(-2.4f, 0.0f)); 00065 d = tester.distance(points, &n); 00066 assert((d-2.1 < eps) && n.x == -2.4f && n.y == 0.0f); 00067 00068 00069 // corner cases 00070 points.push_back(Vector2(1.76f, 1.6f)); 00071 d = tester.distance(points, &n); 00072 assert((d-1.46 < eps) && n.x == 1.76f && n.y == 1.6f); 00073 00074 points.push_back(Vector2(-1.18f, 1.55f)); 00075 d = tester.distance(points, &n); 00076 assert((d-1.37 < eps) && n.x == -1.18f && n.y == 1.55f); 00077 00078 points.push_back(Vector2(-1.05f, -1.7f)); 00079 d = tester.distance(points, &n); 00080 assert((d-1.25 < eps) && n.x == -1.05f && n.y == -1.7f); 00081 00082 points.push_back(Vector2(0.95f, -1.82f)); 00083 d = tester.distance(points, &n); 00084 assert((d-1.13 < eps) && n.x == 0.95f && n.y == -1.82f); 00085 00086 00087 // check if the order matters - it should not. 00088 for(int i=0; i < 1000; i++) { 00089 std::random_shuffle(points.begin(), points.end()); 00090 d = tester.distance(points, &n); 00091 assert((d-1.13 < eps) && n.x == 0.95f && n.y == -1.82f); 00092 } 00093 return true; 00094 } 00095 00096 int main(int argc, char *argv[]) 00097 { 00098 ros::init(argc, argv, "BaseDistance_test"); 00099 distance_test(); 00100 }