test_voxel_grid.cpp
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00034 
00035 /* Author: Mrinal Kalakrishnan, Ken Anderson */
00036 
00037 #include <gtest/gtest.h>
00038 
00039 #include <moveit/distance_field/voxel_grid.h>
00040 #include <ros/ros.h>
00041 
00042 using namespace distance_field;
00043 
00044 TEST(TestVoxelGrid, TestReadWrite)
00045 {
00046   int i;
00047   int def = -100;
00048   VoxelGrid<int> vg(0.02, 0.02, 0.02, 0.01, 0, 0, 0, def);
00049 
00050   int numX = vg.getNumCells(DIM_X);
00051   int numY = vg.getNumCells(DIM_Y);
00052   int numZ = vg.getNumCells(DIM_Z);
00053 
00054   // Check dimensions
00055   EXPECT_EQ(numX, 2);
00056   EXPECT_EQ(numY, 2);
00057   EXPECT_EQ(numZ, 2);
00058 
00059   // check initial values
00060   vg.reset(0);
00061 
00062   i = 0;
00063   for (int x = 0; x < numX; x++)
00064     for (int y = 0; y < numY; y++)
00065       for (int z = 0; z < numZ; z++)
00066       {
00067         EXPECT_EQ(vg.getCell(x, y, z), 0);
00068         i++;
00069       }
00070 
00071   // Check out-of-bounds query    // FIXME-- this test fails!!
00072   // EXPECT_EQ( vg.getCell(999,9999,999), def );
00073   // EXPECT_EQ( vg.getCell(numX+1,0,0), def);
00074   // EXPECT_EQ( vg.getCell(0,numY+1,0), def);
00075   // EXPECT_EQ( vg.getCell(0,0,numZ+1), def);
00076 
00077   // Set values
00078   i = 0;
00079   for (int x = 0; x < numX; x++)
00080     for (int y = 0; y < numY; y++)
00081       for (int z = 0; z < numZ; z++)
00082       {
00083         vg.getCell(x, y, z) = i;
00084         i++;
00085       }
00086 
00087   // check reset values
00088   i = 0;
00089   for (int x = 0; x < numX; x++)
00090     for (int y = 0; y < numY; y++)
00091       for (int z = 0; z < numZ; z++)
00092       {
00093         EXPECT_EQ(i, vg.getCell(x, y, z));
00094         i++;
00095       }
00096 }
00097 
00098 int main(int argc, char** argv)
00099 {
00100   testing::InitGoogleTest(&argc, argv);
00101   return RUN_ALL_TESTS();
00102 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45