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00001 /* 00002 * test_miniatureoccupancygrid.cc 00003 * Mac Mason <mmason@willowgarage.com> 00004 * 00005 * Because testing makes me happy. 00006 */ 00007 00008 #include <iostream> 00009 #include <gtest/gtest.h> 00010 #include "semanticmodel/miniatureoccupancygrid.hh" 00011 00012 using semanticmodel::MiniatureOccupancyGrid; 00013 00014 TEST(MiniOG, constructor) 00015 { 00016 MiniatureOccupancyGrid og; 00017 EXPECT_DOUBLE_EQ(0.05, og._scale); 00018 00019 EXPECT_EQ(0, og.grid.size()); 00020 } 00021 00022 TEST(MiniOG, getOnZero) 00023 { 00024 MiniatureOccupancyGrid og; 00025 for (double i = 0 ; i < 100.0 ; i += 0.5) 00026 { 00027 for (double j = 0 ; j < 100.0 ; j += 0.5) 00028 { 00029 EXPECT_EQ(og.get(i, j), MiniatureOccupancyGrid::EMPTY); 00030 } 00031 } 00032 } 00033 00034 TEST(MiniOG, set) 00035 { 00036 MiniatureOccupancyGrid og; 00037 og.set(19.5, 20.5, MiniatureOccupancyGrid::OCCUPIED); 00038 EXPECT_EQ(og.get(19.5, 20.5), MiniatureOccupancyGrid::OCCUPIED); 00039 for (double i = 0 ; i < 19.0 ; i += 0.1) 00040 { 00041 EXPECT_EQ(og.grid.at((int)i).size(), 0); 00042 } 00043 EXPECT_EQ(og.grid.at(19).size(), 21); 00044 for (double i = 0 ; i < 19 ; i += 0.1) 00045 { 00046 for (double j = 0 ; j < 20 ; j += 0.1) 00047 { 00048 EXPECT_EQ(og.get(i, j), MiniatureOccupancyGrid::EMPTY); 00049 } 00050 } 00051 } 00052 00053 int main(int argc, char* argv[]) 00054 { 00055 testing::InitGoogleTest(&argc, argv); 00056 return RUN_ALL_TESTS(); 00057 }