kernel_test.cpp
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34 #include <gtest/gtest.h>
36 
38 
39 TEST(KernelFunction, cardinal_addition)
40 {
41  EXPECT_EQ(CardinalDirection::NORTHWEST, CardinalDirection::NORTH + CardinalDirection::WEST);
42  EXPECT_EQ(CardinalDirection::SOUTHWEST, CardinalDirection::SOUTH + CardinalDirection::WEST);
43  EXPECT_EQ(CardinalDirection::NORTHEAST, CardinalDirection::NORTH + CardinalDirection::EAST);
44  EXPECT_EQ(CardinalDirection::SOUTHEAST, CardinalDirection::SOUTH + CardinalDirection::EAST);
45 }
46 
47 TEST(KernelFunction, cardinal_and)
48 {
49  EXPECT_TRUE(CardinalDirection::NORTHWEST & CardinalDirection::NORTH);
50  EXPECT_TRUE(CardinalDirection::NORTHWEST & CardinalDirection::NORTHWEST);
51  EXPECT_TRUE(CardinalDirection::NORTHWEST & CardinalDirection::WEST);
52  EXPECT_FALSE(CardinalDirection::NORTHWEST & CardinalDirection::SOUTH);
53  EXPECT_FALSE(CardinalDirection::NORTHWEST & CardinalDirection::SOUTHEAST);
54  EXPECT_FALSE(CardinalDirection::NORTHWEST & CardinalDirection::EAST);
55 }
56 
57 TEST(KernelFunction, some_kernel_values)
58 {
60  info.width = 6;
61  info.height = 6;
63  p.setInfo(info);
64  p.reset();
65 
66  p.setValue(4, 4, 0.0f);
67  CardinalDirection upstream;
68  EXPECT_FLOAT_EQ(5.0f, dlux_global_planner::calculateKernel(p, 5, 4, 3, &upstream));
69  EXPECT_EQ(CardinalDirection::NORTH, upstream);
70 
71  EXPECT_FLOAT_EQ(5.0f, dlux_global_planner::calculateKernel(p, 5, 3, 4, &upstream));
72  EXPECT_EQ(CardinalDirection::EAST, upstream);
73 
74  p.setValue(4, 3, 5.0f);
75  // One parent
76  EXPECT_FLOAT_EQ(11.0f, dlux_global_planner::calculateKernel(p, 6, 3, 3, &upstream));
77  EXPECT_EQ(CardinalDirection::EAST, upstream);
78 
79  p.setValue(3, 4, 5.0f);
80  // Two parents
81  EXPECT_FLOAT_EQ(9.224, dlux_global_planner::calculateKernel(p, 6, 3, 3, &upstream));
82  EXPECT_EQ(CardinalDirection::NORTHEAST, upstream);
83 }
84 
85 int main(int argc, char **argv)
86 {
87  testing::InitGoogleTest(&argc, argv);
88  return RUN_ALL_TESTS();
89 }
f
int main(int argc, char **argv)
Definition: kernel_test.cpp:85
TEST(KernelFunction, cardinal_addition)
Definition: kernel_test.cpp:39
void reset() override
const float HIGH_POTENTIAL
Definition: potential.h:46
void setInfo(const NavGridInfo &new_info) override
void setValue(const unsigned int x, const unsigned int y, const T &value) override
static float calculateKernel(const PotentialGrid &potential_grid, unsigned char cost, unsigned int x, unsigned int y, CardinalDirection *upstream=nullptr)
potential calculation that uses multiple values of the neighboring cells


dlux_global_planner
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autogenerated on Wed Jun 26 2019 20:06:30