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00030 #include <gtest/gtest.h>
00031
00032 #include "base_local_planner/line_iterator.h"
00033
00034 TEST( LineIterator, south )
00035 {
00036 base_local_planner::LineIterator line( 1, 2, 1, 4 );
00037 EXPECT_TRUE( line.isValid() );
00038 EXPECT_EQ( 1, line.getX() );
00039 EXPECT_EQ( 2, line.getY() );
00040 line.advance();
00041 EXPECT_TRUE( line.isValid() );
00042 EXPECT_EQ( 1, line.getX() );
00043 EXPECT_EQ( 3, line.getY() );
00044 line.advance();
00045 EXPECT_TRUE( line.isValid() );
00046 EXPECT_EQ( 1, line.getX() );
00047 EXPECT_EQ( 4, line.getY() );
00048 line.advance();
00049 EXPECT_FALSE( line.isValid() );
00050 }
00051
00052 TEST( LineIterator, north_north_west )
00053 {
00054 base_local_planner::LineIterator line( 0, 0, -2, -4 );
00055 EXPECT_TRUE( line.isValid() );
00056 EXPECT_EQ( 0, line.getX() );
00057 EXPECT_EQ( 0, line.getY() );
00058 line.advance();
00059 EXPECT_TRUE( line.isValid() );
00060 EXPECT_EQ( -1, line.getX() );
00061 EXPECT_EQ( -1, line.getY() );
00062 line.advance();
00063 EXPECT_TRUE( line.isValid() );
00064 EXPECT_EQ( -1, line.getX() );
00065 EXPECT_EQ( -2, line.getY() );
00066 line.advance();
00067 EXPECT_TRUE( line.isValid() );
00068 EXPECT_EQ( -2, line.getX() );
00069 EXPECT_EQ( -3, line.getY() );
00070 line.advance();
00071 EXPECT_TRUE( line.isValid() );
00072 EXPECT_EQ( -2, line.getX() );
00073 EXPECT_EQ( -4, line.getY() );
00074 line.advance();
00075 EXPECT_FALSE( line.isValid() );
00076 }
00077
00078 int main( int argc, char **argv ) {
00079 testing::InitGoogleTest( &argc, argv );
00080 return RUN_ALL_TESTS();
00081 }