test_voxel_grid.cpp
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00001 /*
00002  * Copyright (c) 2009, 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
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00032 #include <gtest/gtest.h>
00033 
00034 #include <distance_field/voxel_grid.h>
00035 #include <ros/ros.h>
00036 
00037 using namespace distance_field;
00038 
00039 TEST(TestVoxelGrid, TestReadWrite)
00040 {
00041   int i;
00042   int def=-100;
00043   VoxelGrid<int> vg(0.02,0.02,0.02,0.01,0,0,0, def);
00044 
00045   int numX = vg.getNumCells(VoxelGrid<int>::DIM_X);
00046   int numY = vg.getNumCells(VoxelGrid<int>::DIM_Y);
00047   int numZ = vg.getNumCells(VoxelGrid<int>::DIM_Z);
00048 
00049   // Check dimensions
00050   EXPECT_EQ(numX,2);
00051   EXPECT_EQ(numY,2);
00052   EXPECT_EQ(numZ,2);
00053 
00054   // check initial values
00055   vg.reset(0);
00056 
00057   i=0;
00058   for (int x=0; x<numX; x++)
00059     for (int y=0; y<numY; y++)
00060       for (int z=0; z<numZ; z++)
00061       {
00062         EXPECT_EQ( vg.getCell(x,y,z), 0);
00063         i++;
00064       }
00065 
00066   // Check out-of-bounds query    // FIXME-- this test fails!!
00067   //EXPECT_EQ( vg.getCell(999,9999,999), def );
00068   //EXPECT_EQ( vg.getCell(numX+1,0,0), def);
00069   //EXPECT_EQ( vg.getCell(0,numY+1,0), def);
00070   //EXPECT_EQ( vg.getCell(0,0,numZ+1), def);
00071 
00072   // Set values
00073   i=0;
00074   for (int x=0; x<numX; x++)
00075     for (int y=0; y<numY; y++)
00076       for (int z=0; z<numZ; z++)
00077       {
00078         vg.getCell(x,y,z) = i;
00079         i++;
00080       }
00081 
00082   // check reset values
00083   i=0;
00084   for (int x=0; x<numX; x++)
00085     for (int y=0; y<numY; y++)
00086       for (int z=0; z<numZ; z++)
00087       {
00088         EXPECT_EQ(i, vg.getCell(x,y,z));
00089         i++;
00090       }
00091 
00092 }
00093 
00094 int main(int argc, char **argv){
00095   testing::InitGoogleTest(&argc, argv);
00096   return RUN_ALL_TESTS();
00097 }


distance_field
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Dec 6 2013 21:11:00