line_iterator_test.cpp

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/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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#include <gtest/gtest.h>

#include "base_local_planner/line_iterator.h"

TEST( LineIterator, south )
{
  base_local_planner::LineIterator line( 1, 2, 1, 4 );
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( 1, line.getX() );
  EXPECT_EQ( 2, line.getY() );
  line.advance();
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( 1, line.getX() );
  EXPECT_EQ( 3, line.getY() );
  line.advance();
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( 1, line.getX() );
  EXPECT_EQ( 4, line.getY() );
  line.advance();
  EXPECT_FALSE( line.isValid() );
}

TEST( LineIterator, north_north_west )
{
  base_local_planner::LineIterator line( 0, 0, -2, -4 );
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( 0, line.getX() );
  EXPECT_EQ( 0, line.getY() );
  line.advance();
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( -1, line.getX() );
  EXPECT_EQ( -1, line.getY() );
  line.advance();
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( -1, line.getX() );
  EXPECT_EQ( -2, line.getY() );
  line.advance();
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( -2, line.getX() );
  EXPECT_EQ( -3, line.getY() );
  line.advance();
  EXPECT_TRUE( line.isValid() );
  EXPECT_EQ( -2, line.getX() );
  EXPECT_EQ( -4, line.getY() );
  line.advance();
  EXPECT_FALSE( line.isValid() );
}

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