test_voxel_grid.cpp
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34 
35 /* Author: Mrinal Kalakrishnan, Ken Anderson */
36 
37 #include <gtest/gtest.h>
38 
40 #include <ros/ros.h>
41 
42 using namespace distance_field;
43 
44 TEST(TestVoxelGrid, TestReadWrite)
45 {
46  int i;
47  int def = -100;
48  VoxelGrid<int> vg(0.02, 0.02, 0.02, 0.01, 0, 0, 0, def);
49 
50  int numX = vg.getNumCells(DIM_X);
51  int numY = vg.getNumCells(DIM_Y);
52  int numZ = vg.getNumCells(DIM_Z);
53 
54  // Check dimensions
55  EXPECT_EQ(numX, 2);
56  EXPECT_EQ(numY, 2);
57  EXPECT_EQ(numZ, 2);
58 
59  // check initial values
60  vg.reset(0);
61 
62  i = 0;
63  for (int x = 0; x < numX; x++)
64  for (int y = 0; y < numY; y++)
65  for (int z = 0; z < numZ; z++)
66  {
67  EXPECT_EQ(vg.getCell(x, y, z), 0);
68  i++;
69  }
70 
71  // Check out-of-bounds query // FIXME-- this test fails!!
72  // EXPECT_EQ( vg.getCell(999,9999,999), def );
73  // EXPECT_EQ( vg.getCell(numX+1,0,0), def);
74  // EXPECT_EQ( vg.getCell(0,numY+1,0), def);
75  // EXPECT_EQ( vg.getCell(0,0,numZ+1), def);
76 
77  // Set values
78  i = 0;
79  for (int x = 0; x < numX; x++)
80  for (int y = 0; y < numY; y++)
81  for (int z = 0; z < numZ; z++)
82  {
83  vg.getCell(x, y, z) = i;
84  i++;
85  }
86 
87  // check reset values
88  i = 0;
89  for (int x = 0; x < numX; x++)
90  for (int y = 0; y < numY; y++)
91  for (int z = 0; z < numZ; z++)
92  {
93  EXPECT_EQ(i, vg.getCell(x, y, z));
94  i++;
95  }
96 }
97 
98 int main(int argc, char** argv)
99 {
100  testing::InitGoogleTest(&argc, argv);
101  return RUN_ALL_TESTS();
102 }
VoxelGrid holds a dense 3D, axis-aligned set of data at a given resolution, where the data is supplie...
Definition: voxel_grid.h:62
double y
#define EXPECT_EQ(a, b)
double z
int getNumCells(Dimension dim) const
Gets the number of cells in the indicated dimension.
Definition: voxel_grid.h:457
Namespace for holding classes that generate distance fields.
TEST(TestVoxelGrid, TestReadWrite)
void reset(const T &initial)
Sets every cell in the voxel grid to the supplied data.
Definition: voxel_grid.h:542
double x
T & getCell(int x, int y, int z)
Gives the value of the given location (x,y,z) in the discretized voxel grid space.
Definition: voxel_grid.h:480
int main(int argc, char **argv)


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