cost_map_ros: to_grid_map.cpp Source File

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00001 
00004 /*****************************************************************************
00005 ** Includes
00006 *****************************************************************************/
00007 
00008 #include <gtest/gtest.h>
00009 #include <grid_map_core/GridMap.hpp>
00010 #include "../../../include/cost_map_ros/converter.hpp"
00011 
00012 /*****************************************************************************
00013 ** Tests
00014 *****************************************************************************/
00015 
00016 TEST(ToGridMap, creation)
00017 {
00018   cost_map::CostMap cost_map;
00019   cost_map.setGeometry(cost_map::Length(3.0, 4.0), 1.0, cost_map::Position(0.0, 0.0));
00020   cost_map.add("free_space", cost_map::FREE_SPACE);
00021   cost_map.add("no_information", cost_map::NO_INFORMATION);
00022   grid_map::GridMap grid_map;
00023   cost_map::toGridMap(cost_map, grid_map);
00024   EXPECT_EQ(grid_map.getSize().x(), cost_map.getSize().x());
00025   EXPECT_EQ(grid_map.getSize().y(), cost_map.getSize().y());
00026   EXPECT_EQ(2, grid_map.getLayers().size());
00027   EXPECT_EQ(grid_map.at("free_space", grid_map::Index(0,0)), 0.0);
00028   EXPECT_EQ(grid_map.at("no_information", grid_map::Index(0,0)), 100.0);
00029 }
00030 
00031 
00032 /*****************************************************************************
00033 ** Main
00034 *****************************************************************************/
00035 
00036 // Run all the tests that were declared with TEST()
00037 int main(int argc, char **argv)
00038 {
00039   testing::InitGoogleTest(&argc, argv);
00040   srand((int)time(0));
00041   return RUN_ALL_TESTS();
00042 }