Go to the documentation of this file.00001
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00009
00010
00011 #include <iostream>
00012 #include <gtest/gtest.h>
00013 #include <ecl/linear_algebra.hpp>
00014 #include <ecl/formatters/floats.hpp>
00015 #include "../../include/ecl/maps/grid_map.hpp"
00016
00017
00018
00019
00020
00021 using std::cout;
00022 using std::endl;
00023 using ecl::RightAlign;
00024 using ecl::Format;
00025 using ecl::GridMap;
00026 using ecl::linear_algebra::Vector2d;
00027 using ecl::linear_algebra::Vector2i;
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00029
00030
00031
00032
00033 namespace ecl {
00034 namespace maps {
00035 namespace tests {
00036
00037
00038
00039
00040
00041 class Cell {
00042 public:
00043 Cell() : i(0), j(0) {};
00044 unsigned int i;
00045 unsigned int j;
00046 };
00047
00048
00049 }
00050 }
00051 }
00052
00053
00054
00055
00056
00057 using ecl::maps::tests::Cell;
00058
00059
00060
00061
00062
00063 TEST(GridMapTests,allEggsInOneBasket) {
00064
00065 SUCCEED();
00066 }
00067
00068
00069
00070
00071 int main(int argc, char **argv) {
00072
00073 Format<double> format; format.width(8); format.precision(2); format.align(RightAlign);
00074
00075 cout << endl;
00076 cout << "***********************************************************" << endl;
00077 cout << " Construction" << endl;
00078 cout << "***********************************************************" << endl;
00079 cout << endl;
00080
00081 std::cout << "Creating a 5x5 grid map over the world area [0.0,0.0]->[10.0,10.0]" << std::endl;
00082 GridMap<Cell> map(5,5, 0.0,0.0,2.0);
00083 GridMap<Cell> map2(5,5, 0.0, 0.0, 1.0 );
00084
00085 typedef GridMap<Cell> Map;
00086
00087 cout << endl;
00088 cout << "***********************************************************" << endl;
00089 cout << " Iteration" << endl;
00090 cout << "***********************************************************" << endl;
00091 cout << endl;
00092
00093 Map::iterator iter;
00094 int i = 0;
00095 int j = 0;
00096 for ( iter = map.begin(); iter != map.end(); ++iter ) {
00097 iter->i = i; iter->j = j;
00098 ++j;
00099 if ( j == map.cols() ) {
00100 j = 0;
00101 ++i;
00102 }
00103 }
00104 Map::const_iterator const_iter;
00105 std::cout << std::endl;
00106 for ( const_iter = map.begin(); const_iter != map.end(); ++const_iter ) {
00107 std::cout << "[" << const_iter->i << "," << const_iter->j << "]" << std::endl;
00108 }
00109 std::cout << std::endl;
00110
00111 std::cout << "Front: " << "[" << map.front().i << "," << map.front().j << "]" << std::endl;
00112 std::cout << "Back: " << "[" << map.back().i << "," << map.back().j << "]" << std::endl;
00113 std::cout << std::endl;
00114
00115 for ( j = map.rows(); j > 0; --j ) {
00116 unsigned int index = j - 1;
00117 for ( i = 0; i < map.cols(); ++i ) {
00118 std::cout << "[" << map(i,index).i << "," << map(i,index).j << "]";
00119 }
00120 std::cout << std::endl;
00121 }
00122 std::cout << std::endl;
00123
00124 cout << endl;
00125 cout << "***********************************************************" << endl;
00126 cout << " Transform" << endl;
00127 cout << "***********************************************************" << endl;
00128 cout << endl;
00129
00130 Vector2i cell_coords = map.cellCoordinates(1.5,2.3);
00131 std::cout << "Cell coordinates [1.5,2.3]->[" << cell_coords[0] << "," << cell_coords[1] << "]" << std::endl;
00132
00133 Vector2d world_coords = map.worldCoordinates(2,3);
00134 std::cout << "World coordinates [2,3] ->[" << world_coords[0] << "," << world_coords[1] << "]" << std::endl;
00135
00136 cout << endl;
00137 cout << "***********************************************************" << endl;
00138 cout << " Comparison and remap" << endl;
00139 cout << "***********************************************************" << endl;
00140 if( map == map2 )
00141 {
00142 std::cout <<"map is equal to map2 " << std::endl;
00143 }
00144 else
00145 {
00146 std::cout <<"map is not equal to map2 " << std::endl;
00147 }
00148
00149 std::cout << "Performs map2=map" << std::endl;
00150 map2 = map;
00151
00152 for ( j = map2.rows(); j > 0; --j ) {
00153 unsigned int index = j - 1;
00154 for ( i = 0; i < map2.cols(); ++i ) {
00155 std::cout << "[" << map2(i,index).i << "," << map2(i,index).j << "]";
00156 }
00157 std::cout << std::endl;
00158 }
00159 std::cout << std::endl;
00160
00161 if( map != map2 )
00162 {
00163 std::cout <<"map is not equal to map2 " << std::endl;
00164 }
00165 else
00166 {
00167 std::cout <<"map is equal to map2 " << std::endl;
00168 }
00169
00170 cout << endl;
00171 cout << "***********************************************************" << endl;
00172 cout << " Passed" << endl;
00173 cout << "***********************************************************" << endl;
00174 cout << endl;
00175
00176 testing::InitGoogleTest(&argc,argv);
00177 return RUN_ALL_TESTS();
00178 }
00179
00180