distance_field: test_voxel_grid.cpp Source File

00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
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 the 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
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00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00030 #include <gtest/gtest.h>
00031 
00032 #include <distance_field/voxel_grid.h>
00033 #include <ros/ros.h>
00034 
00035 using namespace distance_field;
00036 
00037 TEST(TestVoxelGrid, TestReadWrite)
00038 {
00039   int def=-100;
00040   VoxelGrid<int> vg(0.02,0.02,0.02,0.01,0,0,0, def);
00041 
00042   int numX = vg.getNumCells(VoxelGrid<int>::DIM_X);
00043   int numY = vg.getNumCells(VoxelGrid<int>::DIM_Y);
00044   int numZ = vg.getNumCells(VoxelGrid<int>::DIM_Z);
00045 
00046   vg.reset(0);
00047 
00048   int i=0;
00049   for (int x=0; x<numX; x++)
00050     for (int y=0; y<numY; y++)
00051       for (int z=0; z<numZ; z++)
00052       {
00053         vg.getCell(x,y,z) = i;
00054         i++;
00055       }
00056 
00057   i=0;
00058   for (int x=0; x<numX; x++)
00059     for (int y=0; y<numY; y++)
00060       for (int z=0; z<numZ; z++)
00061       {
00062         EXPECT_EQ(i, vg.getCell(x,y,z));
00063         i++;
00064       }
00065 
00066 }