scan_match_test.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00039 #include <karto_scan_matcher/karto_scan_matcher.h>
00040 #include <gtest/gtest.h>
00041 #include <boost/assign.hpp>
00042 
00043 namespace ksm=karto_scan_matcher;
00044 namespace gm=geometry_msgs;
00045 namespace sm=sensor_msgs;
00046 
00047 using boost::assign::operator+=;
00048 
00049 const double PI=3.14159265;
00050 const double TOL=1e-3;
00051 
00052 bool approxEqual (const gm::Point& p1, const gm::Point& p2)
00053 {
00054   return abs(p1.x-p2.x)+abs(p1.y-p2.y)+abs(p1.z-p2.z) < TOL;
00055 }
00056 
00057 TEST(KartoScanMatcher, Basic)
00058 {
00059   gm::Pose2D laser;
00060   laser.x = 2.0;
00061   laser.y = 1.0;
00062   laser.theta = PI/4;
00063   
00064   sm::LaserScan scan;
00065   scan.angle_min = PI/4;
00066   scan.angle_max = 3*PI/4;
00067   scan.angle_increment = PI/4;
00068   scan.range_min = 0.0;
00069   scan.range_max = 5.0;
00070   scan.ranges += 1.0, 10.0, 2.0;
00071 
00072   ksm::ScanWithPose scan_with_pose(scan, laser);
00073 
00074   gm::Point barycenter;
00075   barycenter.x = 1.0;
00076   barycenter.y = 1.5;
00077 
00078   EXPECT_PRED2(approxEqual, barycenter, scan_with_pose.barycenter);
00079 }
00080 
00081 int main (int argc, char** argv)
00082 {
00083   testing::InitGoogleTest(&argc, argv);
00084   return RUN_ALL_TESTS();
00085 }


karto_scan_matcher
Author(s): Bhaskara Marthi
autogenerated on Thu Jan 2 2014 12:02:42