scan_match_test.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, 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 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 00039 #include <karto_scan_matcher/karto_scan_matcher.h> 00040 #include <gtest/gtest.h> 00041 #include <boost/assign.hpp> 00042 00043 namespace ksm=karto_scan_matcher; 00044 namespace gm=geometry_msgs; 00045 namespace sm=sensor_msgs; 00046 00047 using boost::assign::operator+=; 00048 00049 const double PI=3.14159265; 00050 const double TOL=1e-3; 00051 00052 bool approxEqual (const gm::Point& p1, const gm::Point& p2) 00053 { 00054 return abs(p1.x-p2.x)+abs(p1.y-p2.y)+abs(p1.z-p2.z) < TOL; 00055 } 00056 00057 TEST(KartoScanMatcher, Basic) 00058 { 00059 gm::Pose2D laser; 00060 laser.x = 2.0; 00061 laser.y = 1.0; 00062 laser.theta = PI/4; 00063 00064 sm::LaserScan scan; 00065 scan.angle_min = PI/4; 00066 scan.angle_max = 3*PI/4; 00067 scan.angle_increment = PI/4; 00068 scan.range_min = 0.0; 00069 scan.range_max = 5.0; 00070 scan.ranges += 1.0, 10.0, 2.0; 00071 00072 ksm::ScanWithPose scan_with_pose(scan, laser); 00073 00074 gm::Point barycenter; 00075 barycenter.x = 1.0; 00076 barycenter.y = 1.5; 00077 00078 EXPECT_PRED2(approxEqual, barycenter, scan_with_pose.barycenter); 00079 } 00080 00081 int main (int argc, char** argv) 00082 { 00083 testing::InitGoogleTest(&argc, argv); 00084 return RUN_ALL_TESTS(); 00085 }