geometry_tools_tests.cpp
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00001 #include "ros/ros.h"
00002 #include "costmap_2d/costmap_2d.h"
00003 #include "frontier_exploration/geometry_tools.h"
00004 #include "boost/foreach.hpp"
00005 
00006 #include <gtest/gtest.h>
00007 
00008 class PointInPolygonTest : public::testing::Test{
00009 protected:
00010     virtual void SetUp(){
00011         //make upright hourglass polygon
00012         geometry_msgs::Point32 point;
00013         point.x = -1; point.y = 1;
00014         polygon_.points.push_back(point);
00015         point.x = 1; point.y = 1;
00016         polygon_.points.push_back(point);
00017         point.x = -1; point.y = -1;
00018         polygon_.points.push_back(point);
00019         point.x = 1; point.y = -1;
00020         polygon_.points.push_back(point);
00021     }
00022     geometry_msgs::Polygon polygon_;
00023 };
00024 
00025 TEST_F(PointInPolygonTest, outside){
00026     geometry_msgs::Point point;
00027     point.x = 0.5; point.y = 0;
00028     ASSERT_FALSE(frontier_exploration::pointInPolygon(point, polygon_));
00029     point.x = -0.5; point.y = 0;
00030     ASSERT_FALSE(frontier_exploration::pointInPolygon(point, polygon_));
00031     point.x = 0; point.y = 1.1;
00032     ASSERT_FALSE(frontier_exploration::pointInPolygon(point, polygon_));
00033     point.x = 0; point.y = -1.1;
00034     ASSERT_FALSE(frontier_exploration::pointInPolygon(point, polygon_));
00035 }
00036 
00037 TEST_F(PointInPolygonTest, inside){
00038     geometry_msgs::Point point;
00039     point.x = 0; point.y = 0.5;
00040     ASSERT_TRUE(frontier_exploration::pointInPolygon(point, polygon_));
00041     point.x = 0; point.y = 0.5;
00042     ASSERT_TRUE(frontier_exploration::pointInPolygon(point, polygon_));
00043 }
00044 
00045 TEST(PointsAdjacentTest, different)
00046 {
00047     geometry_msgs::Point a, b;
00048     a.x = 1;
00049     ASSERT_FALSE(frontier_exploration::pointsNearby(a,b,0));
00050     ASSERT_FALSE(frontier_exploration::pointsNearby(a,b,0.1));
00051     ASSERT_TRUE(frontier_exploration::pointsNearby(a,b,1));
00052 }
00053 
00054 TEST(PointsAdjacentTest, identical)
00055 {
00056     geometry_msgs::Point a, b;
00057     a.x = 1;
00058     b.x = 1;
00059     ASSERT_TRUE(frontier_exploration::pointsNearby(a,b,0));
00060     ASSERT_TRUE(frontier_exploration::pointsNearby(a,b,0.1));
00061     ASSERT_TRUE(frontier_exploration::pointsNearby(a,b,1));
00062 }
00063 
00064 int main(int argc, char **argv){
00065     testing::InitGoogleTest(&argc, argv);
00066     return RUN_ALL_TESTS();
00067 }


frontier_exploration
Author(s): Paul Bovbel
autogenerated on Thu Jun 6 2019 20:45:41