test_blockmem_gridmap.cpp

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#ifdef NDEBUG
// Enable assertion to check out-of-bound access
#undef NDEBUG
#endif
 
#include <cstddef>
#include <limits>
 
#include <gtest/gtest.h>
 
#include <planner_cspace/blockmem_gridmap.h>
 
namespace planner_cspace
{
template <int BLOCK_WIDTH>
class BlockMemGridmapHelper : public BlockMemGridmap<int, 1, 1, BLOCK_WIDTH, false>
{
public:
  size_t getBlockBit() const
  {
    return this->block_bit_;
  }
};
TEST(BlockmemGridmap, BlockWidth)
{
  ASSERT_EQ(4u, BlockMemGridmapHelper<0x10>().getBlockBit());
  ASSERT_EQ(8u, BlockMemGridmapHelper<0x100>().getBlockBit());
  ASSERT_EQ(12u, BlockMemGridmapHelper<0x1000>().getBlockBit());
  ASSERT_EQ(16u, BlockMemGridmapHelper<0x10000>().getBlockBit());
}
 
TEST(BlockmemGridmap, ResetClear)
{
  BlockMemGridmap<float, 3, 3, 0x20> gm;
 
  for (int i = 0; i < 2; i++)
  {
    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, ClearAndCopyPartially)
{
  const CyclicVecInt<3, 3> base_size(17, 8, 3);
  BlockMemGridmap<float, 3, 3, 0x20> gm_base;
  gm_base.reset(base_size);
  for (CyclicVecInt<3, 3> p(0, 0, 0); p[0] < base_size[0]; ++p[0])
  {
    for (p[1] = 0; p[1] < base_size[1]; ++p[1])
    {
      for (p[2] = 0; p[2] < base_size[2]; ++p[2])
      {
        gm_base[p] = p[0] * base_size[1] * base_size[2] + p[1] * base_size[2] + p[2];
      }
    }
  }
 
  BlockMemGridmap<float, 3, 3, 0x20> gm;
  gm = gm_base;
 
  const CyclicVecInt<3, 3> copy_min_pos(3, 5, 0);
  const CyclicVecInt<3, 3> copy_max_pos(6, 7, 2);
  gm.clear_partially(-1, copy_min_pos, copy_max_pos);
 
  for (CyclicVecInt<3, 3> p(0, 0, 0); p[0] < base_size[0]; ++p[0])
  {
    for (p[1] = 0; p[1] < base_size[1]; ++p[1])
    {
      for (p[2] = 0; p[2] < base_size[2]; ++p[2])
      {
        if ((copy_min_pos[0] <= p[0]) && (p[0] <= copy_max_pos[0]) &&
            (copy_min_pos[1] <= p[1]) && (p[1] <= copy_max_pos[1]) &&
            (copy_min_pos[2] <= p[2]) && (p[2] <= copy_max_pos[2]))
        {
          EXPECT_EQ(gm[p], -1) << p[0] << "," << p[1] << "," << p[2];
        }
        else
        {
          EXPECT_EQ(gm[p], gm_base[p]) << p[0] << "," << p[1] << "," << p[2];
        }
      }
    }
  }
 
  BlockMemGridmap<float, 3, 3, 0x20> gm_update;
  gm_update.reset(base_size);
  for (CyclicVecInt<3, 3> p(0, 0, 0); p[0] < base_size[0]; ++p[0])
  {
    for (p[1] = 0; p[1] < base_size[1]; ++p[1])
    {
      for (p[2] = 0; p[2] < base_size[2]; ++p[2])
      {
        gm_update[p] = p[0] * base_size[1] * base_size[2] + p[1] * base_size[2] + p[2] * -1;
      }
    }
  }
 
  gm = gm_base;
  gm.copy_partially(gm_update, copy_min_pos, copy_max_pos);
 
  for (CyclicVecInt<3, 3> p(0, 0, 0); p[0] < base_size[0]; ++p[0])
  {
    for (p[1] = 0; p[1] < base_size[1]; ++p[1])
    {
      for (p[2] = 0; p[2] < base_size[2]; ++p[2])
      {
        if ((copy_min_pos[0] <= p[0]) && (p[0] <= copy_max_pos[0]) &&
            (copy_min_pos[1] <= p[1]) && (p[1] <= copy_max_pos[1]) &&
            (copy_min_pos[2] <= p[2]) && (p[2] <= copy_max_pos[2]))
        {
          ASSERT_EQ(gm[p], gm_update[p]);
        }
        else
        {
          ASSERT_EQ(gm[p], gm_base[p]);
        }
      }
    }
  }
}
 
TEST(BlockmemGridmap, CopyPartiallyWithOffset)
{
  const CyclicVecInt<3, 3> src_size(17, 8, 3);
  BlockMemGridmap<char, 3, 3, 0x20> gm_src;
  gm_src.reset(src_size);
  for (CyclicVecInt<3, 3> p(0, 0, 0); p[0] < src_size[0]; ++p[0])
  {
    for (p[1] = 0; p[1] < src_size[1]; ++p[1])
    {
      for (p[2] = 0; p[2] < src_size[2]; ++p[2])
      {
        gm_src[p] = p[0] * src_size[1] * src_size[2] + p[1] * src_size[2] + p[2];
      }
    }
  }
 
  const CyclicVecInt<3, 3> dst_size(6, 5, 3);
  BlockMemGridmap<char, 3, 3, 0x20> gm_dst;
  gm_dst.reset(dst_size);
 
  const CyclicVecInt<3, 3> src_min(5, 3, 0);
  const CyclicVecInt<3, 3> src_max(8, 5, 2);
  const CyclicVecInt<3, 3> dst_min(1, 0, 0);
  const CyclicVecInt<3, 3> dst_max(4, 2, 2);
 
  gm_dst.clear(-1);
  gm_dst.copy_partially(dst_min, gm_src, src_min, src_max);
 
  for (CyclicVecInt<3, 3> p(0, 0, 0); p[0] < dst_size[0]; ++p[0])
  {
    for (p[1] = 0; p[1] < dst_size[1]; ++p[1])
    {
      for (p[2] = 0; p[2] < dst_size[2]; ++p[2])
      {
        if ((dst_min[0] <= p[0]) && (p[0] <= dst_max[0]) &&
            (dst_min[1] <= p[1]) && (p[1] <= dst_max[1]) &&
            (dst_min[2] <= p[2]) && (p[2] <= dst_max[2]))
        {
          ASSERT_EQ(gm_dst[p], gm_src[p - dst_min + src_min]);
        }
        else
        {
          ASSERT_EQ(gm_dst[p], -1);
        }
      }
    }
  }
}
 
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, OuterBoundary)
{
  BlockMemGridmap<float, 3, 2, 0x20, true> 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;
      }
    }
  }
}
}  // namespace planner_cspace
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
 
  return RUN_ALL_TESTS();
}