base_local_planner: line_iterator

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00001 /*
00002  * Copyright (c) 2012, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00028  */
00029 
00030 #include <gtest/gtest.h>
00031 
00032 #include "base_local_planner/line_iterator.h"
00033 
00034 TEST( LineIterator, south )
00035 {
00036   base_local_planner::LineIterator line( 1, 2, 1, 4 );
00037   EXPECT_EQ( true, line.isValid() );
00038   EXPECT_EQ( 1, line.getX() );
00039   EXPECT_EQ( 2, line.getY() );
00040   line.advance();
00041   EXPECT_EQ( true, line.isValid() );
00042   EXPECT_EQ( 1, line.getX() );
00043   EXPECT_EQ( 3, line.getY() );
00044   line.advance();
00045   EXPECT_EQ( true, line.isValid() );
00046   EXPECT_EQ( 1, line.getX() );
00047   EXPECT_EQ( 4, line.getY() );
00048   line.advance();
00049   EXPECT_EQ( false, line.isValid() );
00050 }
00051 
00052 TEST( LineIterator, north_north_west )
00053 {
00054   base_local_planner::LineIterator line( 0, 0, -2, -4 );
00055   EXPECT_EQ( true, line.isValid() );
00056   EXPECT_EQ( 0, line.getX() );
00057   EXPECT_EQ( 0, line.getY() );
00058   line.advance();
00059   EXPECT_EQ( true, line.isValid() );
00060   EXPECT_EQ( -1, line.getX() );
00061   EXPECT_EQ( -1, line.getY() );
00062   line.advance();
00063   EXPECT_EQ( true, line.isValid() );
00064   EXPECT_EQ( -1, line.getX() );
00065   EXPECT_EQ( -2, line.getY() );
00066   line.advance();
00067   EXPECT_EQ( true, line.isValid() );
00068   EXPECT_EQ( -2, line.getX() );
00069   EXPECT_EQ( -3, line.getY() );
00070   line.advance();
00071   EXPECT_EQ( true, line.isValid() );
00072   EXPECT_EQ( -2, line.getX() );
00073   EXPECT_EQ( -4, line.getY() );
00074   line.advance();
00075   EXPECT_EQ( false, line.isValid() );
00076 }
00077 
00078 int main( int argc, char **argv ) {
00079   testing::InitGoogleTest( &argc, argv );
00080   return RUN_ALL_TESTS();
00081 }