test_geometry_util.cpp

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#include <gtest/gtest.h>

#include <swri_geometry_util/geometry_util.h>

TEST(IntersectionTests, ClosestPointToLinesInvalid)
{
  tf::Vector3 point;
  ASSERT_FALSE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(1, 0, 0),
    tf::Vector3(1, 0, 0),
    tf::Vector3(0, 1, 0),
    tf::Vector3(1, 0, 1),
    point));
 
  ASSERT_FALSE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(1, 0, 1),
    tf::Vector3(0, 1, 0),
    tf::Vector3(0, 0, 1),
    tf::Vector3(0, 0, 1),
    point));

  ASSERT_FALSE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(20, 0, 0),
    tf::Vector3(30, 0, 0),
    point));

  ASSERT_FALSE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(30, 0, 0),
    tf::Vector3(10, 0, 0),
    point));

  ASSERT_FALSE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(20, 10, 10),
    tf::Vector3(30, 10, 10),
    point));


  ASSERT_FALSE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(30, 10, 10),
    tf::Vector3(10, 10, 10),
    point));
}

TEST(IntersectionTests, ClosestPointToLines)
{
  tf::Vector3 point;
  ASSERT_TRUE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(0, 0, 0),
    tf::Vector3(0, 10, 0),
    point));
  EXPECT_FLOAT_EQ(point.x(), 0);
  EXPECT_FLOAT_EQ(point.y(), 0);
  EXPECT_FLOAT_EQ(point.z(), 0);

  ASSERT_TRUE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(0, 5, 0),
    tf::Vector3(0, 10, 0),
    point));
  EXPECT_FLOAT_EQ(point.x(), 0);
  EXPECT_FLOAT_EQ(point.y(), 0);
  EXPECT_FLOAT_EQ(point.z(), 0);

  ASSERT_TRUE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(5, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(0, 5, 0),
    tf::Vector3(0, 10, 0),
    point));
  EXPECT_FLOAT_EQ(point.x(), 0);
  EXPECT_FLOAT_EQ(point.y(), 0);
  EXPECT_FLOAT_EQ(point.z(), 0);

  ASSERT_TRUE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(0, -5, 0),
    tf::Vector3(0, 10, 0),
    point));
  EXPECT_FLOAT_EQ(point.x(), 0);
  EXPECT_FLOAT_EQ(point.y(), 0);
  EXPECT_FLOAT_EQ(point.z(), 0);

  ASSERT_TRUE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(0, 0, 20),
    tf::Vector3(0, 10, 20),
    point));
  EXPECT_FLOAT_EQ(point.x(), 0);
  EXPECT_FLOAT_EQ(point.y(), 0);
  EXPECT_FLOAT_EQ(point.z(), 10);

  ASSERT_TRUE(swri_geometry_util::ClosestPointToLines(
    tf::Vector3(0, 0, 0),
    tf::Vector3(10, 0, 0),
    tf::Vector3(0, 10, 20),
    tf::Vector3(0, 0, 20),
    point));
  EXPECT_FLOAT_EQ(point.x(), 0);
  EXPECT_FLOAT_EQ(point.y(), 0);
  EXPECT_FLOAT_EQ(point.z(), 10);
}

// Run all the tests that were declared with TEST()
int main(int argc, char **argv)
{
  testing::InitGoogleTest(&argc, argv);

  return RUN_ALL_TESTS();
}