test_voxel_grid.cpp

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/* Author: Mrinal Kalakrishnan, Ken Anderson */

#include <gtest/gtest.h>

#include <moveit/distance_field/voxel_grid.h>
#include <ros/ros.h>

using namespace distance_field;

TEST(TestVoxelGrid, TestReadWrite)
{
  int i;
  int def=-100;
  VoxelGrid<int> vg(0.02,0.02,0.02,0.01,0,0,0, def);

  int numX = vg.getNumCells(DIM_X);
  int numY = vg.getNumCells(DIM_Y);
  int numZ = vg.getNumCells(DIM_Z);

  // Check dimensions
  EXPECT_EQ(numX,2);
  EXPECT_EQ(numY,2);
  EXPECT_EQ(numZ,2);

  // check initial values
  vg.reset(0);

  i=0;
  for (int x=0; x<numX; x++)
    for (int y=0; y<numY; y++)
      for (int z=0; z<numZ; z++)
      {
        EXPECT_EQ( vg.getCell(x,y,z), 0);
        i++;
      }

  // Check out-of-bounds query    // FIXME-- this test fails!!
  //EXPECT_EQ( vg.getCell(999,9999,999), def );
  //EXPECT_EQ( vg.getCell(numX+1,0,0), def);
  //EXPECT_EQ( vg.getCell(0,numY+1,0), def);
  //EXPECT_EQ( vg.getCell(0,0,numZ+1), def);

  // Set values
  i=0;
  for (int x=0; x<numX; x++)
    for (int y=0; y<numY; y++)
      for (int z=0; z<numZ; z++)
      {
        vg.getCell(x,y,z) = i;
        i++;
      }

  // check reset values
  i=0;
  for (int x=0; x<numX; x++)
    for (int y=0; y<numY; y++)
      for (int z=0; z<numZ; z++)
      {
        EXPECT_EQ(i, vg.getCell(x,y,z));
        i++;
      }

}

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