kernel_test.cpp

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#include <gtest/gtest.h>
#include <dlux_global_planner/kernel_function.h>

using dlux_global_planner::CardinalDirection;

TEST(KernelFunction, cardinal_addition)
{
  EXPECT_EQ(CardinalDirection::NORTHWEST, CardinalDirection::NORTH + CardinalDirection::WEST);
  EXPECT_EQ(CardinalDirection::SOUTHWEST, CardinalDirection::SOUTH + CardinalDirection::WEST);
  EXPECT_EQ(CardinalDirection::NORTHEAST, CardinalDirection::NORTH + CardinalDirection::EAST);
  EXPECT_EQ(CardinalDirection::SOUTHEAST, CardinalDirection::SOUTH + CardinalDirection::EAST);
}

TEST(KernelFunction, cardinal_and)
{
  EXPECT_TRUE(CardinalDirection::NORTHWEST & CardinalDirection::NORTH);
  EXPECT_TRUE(CardinalDirection::NORTHWEST & CardinalDirection::NORTHWEST);
  EXPECT_TRUE(CardinalDirection::NORTHWEST & CardinalDirection::WEST);
  EXPECT_FALSE(CardinalDirection::NORTHWEST & CardinalDirection::SOUTH);
  EXPECT_FALSE(CardinalDirection::NORTHWEST & CardinalDirection::SOUTHEAST);
  EXPECT_FALSE(CardinalDirection::NORTHWEST & CardinalDirection::EAST);
}

TEST(KernelFunction, some_kernel_values)
{
  nav_grid::NavGridInfo info;
  info.width = 6;
  info.height = 6;
  dlux_global_planner::PotentialGrid p(dlux_global_planner::HIGH_POTENTIAL);
  p.setInfo(info);
  p.reset();

  p.setValue(4, 4, 0.0f);
  CardinalDirection upstream;
  EXPECT_FLOAT_EQ(5.0f, dlux_global_planner::calculateKernel(p, 5, 4, 3, &upstream));
  EXPECT_EQ(CardinalDirection::NORTH, upstream);

  EXPECT_FLOAT_EQ(5.0f, dlux_global_planner::calculateKernel(p, 5, 3, 4, &upstream));
  EXPECT_EQ(CardinalDirection::EAST, upstream);

  p.setValue(4, 3, 5.0f);
  // One parent
  EXPECT_FLOAT_EQ(11.0f, dlux_global_planner::calculateKernel(p, 6, 3, 3, &upstream));
  EXPECT_EQ(CardinalDirection::EAST, upstream);

  p.setValue(3, 4, 5.0f);
  // Two parents
  EXPECT_FLOAT_EQ(9.224, dlux_global_planner::calculateKernel(p, 6, 3, 3, &upstream));
  EXPECT_EQ(CardinalDirection::NORTHEAST, upstream);
}

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