test_blockmem_gridmap.cpp

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#include <cstddef>
#include <limits>

#include <gtest/gtest.h>

#include <planner_cspace/blockmem_gridmap.h>

TEST(BlockmemGridmap, ResetClear)
{
  BlockMemGridmap<float, 3, 3, 0x20> gm;

  for (int s = 4; s <= 6; s += 2)
  {
    gm.reset(CyclicVecInt<3, 3>(s, s, s));
    gm.clear(0.0);

    CyclicVecInt<3, 3> i;
    for (i[0] = 0; i[0] < s; ++i[0])
    {
      for (i[1] = 0; i[1] < s; ++i[1])
      {
        for (i[2] = 0; i[2] < s; ++i[2])
        {
          ASSERT_EQ(gm[i], 0.0);
        }
      }
    }

    gm.clear(3.0);
    for (i[0] = 0; i[0] < s; ++i[0])
    {
      for (i[1] = 0; i[1] < s; ++i[1])
      {
        for (i[2] = 0; i[2] < s; ++i[2])
        {
          ASSERT_EQ(gm[i], 3.0);
        }
      }
    }
  }
}

TEST(BlockmemGridmap, WriteRead)
{
  BlockMemGridmap<float, 3, 3, 0x20> gm;

  const int s = 4;
  gm.reset(CyclicVecInt<3, 3>(s, s, s));
  gm.clear(0.0);

  CyclicVecInt<3, 3> i;
  for (i[0] = 0; i[0] < s; ++i[0])
  {
    for (i[1] = 0; i[1] < s; ++i[1])
    {
      for (i[2] = 0; i[2] < s; ++i[2])
      {
        gm[i] = i[2] * 100 + i[1] * 10 + i[0];
      }
    }
  }

  for (i[0] = 0; i[0] < s; ++i[0])
  {
    for (i[1] = 0; i[1] < s; ++i[1])
    {
      for (i[2] = 0; i[2] < s; ++i[2])
      {
        ASSERT_EQ(gm[i], i[2] * 100 + i[1] * 10 + i[0]);
      }
    }
  }
}

TEST(BlockmemGridmap, OuterBoundery)
{
  BlockMemGridmap<float, 3, 2, 0x20> gm;

  const int s = 0x30;
  gm.reset(CyclicVecInt<3, 2>(s, s, s));
  gm.clear(1.0);

  CyclicVecInt<3, 2> i;
  const int outer = 0x10;
  for (i[0] = -outer; i[0] < s + outer; ++i[0])
  {
    for (i[1] = -outer; i[1] < s + outer; ++i[1])
    {
      for (i[2] = -outer; i[2] < s + outer; ++i[2])
      {
        if (i[0] >= 0 && i[1] >= 0 && i[2] >= 0 &&
            i[0] < s && i[1] < s && i[2] < s)
        {
          ASSERT_TRUE(gm.validate(i));
        }
        else
        {
          ASSERT_FALSE(gm.validate(i));
        }
        // Confirm at least not dead
        gm[i] = 1.0;
      }
    }
  }
}

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

  return RUN_ALL_TESTS();
}