test_laser_slam.cpp

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#include <gtest/gtest.h>
#include <ros/assert.h>
#include <laser_slam/scan_intersection.h>
#include <boost/foreach.hpp>
#include <boost/assign.hpp>

using std::vector;
namespace ls=laser_slam;

const double PI=3.14159265;

btTransform makePose (const double x, const double y, const double th)
{
  return btTransform(btQuaternion(btVector3(0,0,1), th),
                      btVector3(x,y,0));
}



TEST(LaserSlam, ScanIntersection)
{
  vector<btVector3> poly(4);
  poly[1].setX(-5);
  poly[1].setY(1);
  poly[2].setY(8);
  poly[3].setX(5);
  poly[3].setY(1);
  
  ls::ScanIntersection scan_int(poly);

  const btVector3 p(5, 5, 0);
  const btTransform p1 = makePose(0,0,0);
  const btTransform p2 = makePose(0,0,PI);
  const btTransform p3 = makePose(4,4,0);
  const btTransform p4 = makePose(4,4,PI);
  const btTransform p5 = makePose(-0.1, -0.1, 0);
  
  EXPECT_TRUE (!scan_int.contains(p1, p));
  EXPECT_TRUE (!scan_int.contains(p2, p));
  EXPECT_TRUE (scan_int.contains(p3, p));
  EXPECT_TRUE (!scan_int.contains(p4, p));

  vector<btTransform> r1;
  r1.push_back(p1);
  vector<btTransform> r2;
  r2.push_back(p2);

  EXPECT_NEAR (scan_int.unseenProportion(p5, r1), 0, 0.1);
  EXPECT_NEAR (scan_int.unseenProportion(p5, r2), 1, 0.1);
}

int main (int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}

---

laser_slam
Author(s): Bhaskara Marthi
autogenerated on Fri Jan 11 09:53:23 2013