test_voxel_grid.cpp

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/* Author: Mrinal Kalakrishnan, Ken Anderson */

#include <gtest/gtest.h>

#include <moveit/distance_field/voxel_grid.h>
#include <ros/ros.h>

using namespace distance_field;

TEST(TestVoxelGrid, TestReadWrite)
{
  int i;
  int def = -100;
  VoxelGrid<int> vg(0.02, 0.02, 0.02, 0.01, 0, 0, 0, def);

  int numX = vg.getNumCells(DIM_X);
  int numY = vg.getNumCells(DIM_Y);
  int numZ = vg.getNumCells(DIM_Z);

  // Check dimensions
  EXPECT_EQ(numX, 2);
  EXPECT_EQ(numY, 2);
  EXPECT_EQ(numZ, 2);

  // check initial values
  vg.reset(0);

  i = 0;
  for (int x = 0; x < numX; x++)
    for (int y = 0; y < numY; y++)
      for (int z = 0; z < numZ; z++)
      {
        EXPECT_EQ(vg.getCell(x, y, z), 0);
        i++;
      }

  // Check out-of-bounds query    // FIXME-- this test fails!!
  // EXPECT_EQ( vg.getCell(999,9999,999), def );
  // EXPECT_EQ( vg.getCell(numX+1,0,0), def);
  // EXPECT_EQ( vg.getCell(0,numY+1,0), def);
  // EXPECT_EQ( vg.getCell(0,0,numZ+1), def);

  // Set values
  i = 0;
  for (int x = 0; x < numX; x++)
    for (int y = 0; y < numY; y++)
      for (int z = 0; z < numZ; z++)
      {
        vg.getCell(x, y, z) = i;
        i++;
      }

  // check reset values
  i = 0;
  for (int x = 0; x < numX; x++)
    for (int y = 0; y < numY; y++)
      for (int z = 0; z < numZ; z++)
      {
        EXPECT_EQ(i, vg.getCell(x, y, z));
        i++;
      }
}

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