scan_match_test.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <karto_scan_matcher/karto_scan_matcher.h>
#include <gtest/gtest.h>
#include <boost/assign.hpp>

namespace ksm=karto_scan_matcher;
namespace gm=geometry_msgs;
namespace sm=sensor_msgs;

using boost::assign::operator+=;

const double PI=3.14159265;
const double TOL=1e-3;

bool approxEqual (const gm::Point& p1, const gm::Point& p2)
{
  return abs(p1.x-p2.x)+abs(p1.y-p2.y)+abs(p1.z-p2.z) < TOL;
}

TEST(KartoScanMatcher, Basic)
{
  gm::Pose2D laser;
  laser.x = 2.0;
  laser.y = 1.0;
  laser.theta = PI/4;
  
  sm::LaserScan scan;
  scan.angle_min = PI/4;
  scan.angle_max = 3*PI/4;
  scan.angle_increment = PI/4;
  scan.range_min = 0.0;
  scan.range_max = 5.0;
  scan.ranges += 1.0, 10.0, 2.0;

  ksm::ScanWithPose scan_with_pose(scan, laser);

  gm::Point barycenter;
  barycenter.x = 1.0;
  barycenter.y = 1.5;

  EXPECT_PRED2(approxEqual, barycenter, scan_with_pose.barycenter);
}

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