velocity_iterator_test.cpp
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00034 
00035 
00036 
00037 
00038 #include <gtest/gtest.h>
00039 
00040 #include <base_local_planner/velocity_iterator.h>
00041 
00042 
00043 namespace base_local_planner {
00044 
00045 TEST(VelocityIteratorTest, testsingle) {
00046   double result[5];
00047   int i = 0;
00048   for(base_local_planner::VelocityIterator x_it(0.0, 0.0, 1); !x_it.isFinished(); x_it++) {
00049     result[i] = x_it.getVelocity();
00050     i++;
00051   }
00052   EXPECT_EQ(1, i);
00053   EXPECT_EQ(0, result[0]);
00054 }
00055 
00056 TEST(VelocityIteratorTest, testsingle_pos) {
00057   double result[5];
00058   int i = 0;
00059   for(base_local_planner::VelocityIterator x_it(2.2, 2.2, 1); !x_it.isFinished(); x_it++) {
00060     result[i] = x_it.getVelocity();
00061     i++;
00062   }
00063   EXPECT_EQ(1, i);
00064   EXPECT_EQ(2.2, result[0]);
00065 }
00066 
00067 TEST(VelocityIteratorTest, testsingle_neg) {
00068   double result[5];
00069   int i = 0;
00070   for(base_local_planner::VelocityIterator x_it(-3.3, -3.3, 1); !x_it.isFinished(); x_it++) {
00071     result[i] = x_it.getVelocity();
00072     i++;
00073   }
00074   EXPECT_EQ(1, i);
00075   EXPECT_EQ(-3.3, result[0]);
00076 }
00077 
00078 TEST(VelocityIteratorTest, test1) {
00079   double result[5];
00080   int i = 0;
00081   for(base_local_planner::VelocityIterator x_it(-30, 30, 1); !x_it.isFinished(); x_it++) {
00082     result[i] = x_it.getVelocity();
00083     i++;
00084   }
00085   EXPECT_EQ(3, i);
00086   double expected [3]= {-30.0, 0.0, 30.0};
00087   for (int j = 0; j < 3; ++j) {
00088     EXPECT_EQ(expected[j], result[j]);
00089   }
00090 }
00091 
00092 TEST(VelocityIteratorTest, test1_pos) {
00093   double result[5];
00094   int i = 0;
00095   for(base_local_planner::VelocityIterator x_it(10, 30, 1); !x_it.isFinished(); x_it++) {
00096     result[i] = x_it.getVelocity();
00097     i++;
00098   }
00099   EXPECT_EQ(2, i);
00100   double expected [2]= {10.0, 30.0};
00101   for (int j = 0; j < 2; ++j) {
00102     EXPECT_EQ(expected[j], result[j]);
00103   }
00104 }
00105 
00106 TEST(VelocityIteratorTest, test1_neg) {
00107   double result[5];
00108   int i = 0;
00109   for(base_local_planner::VelocityIterator x_it(-30, -10, 1); !x_it.isFinished(); x_it++) {
00110     result[i] = x_it.getVelocity();
00111     i++;
00112   }
00113   EXPECT_EQ(2, i);
00114   double expected [2]= {-30.0, -10.0};
00115   for (int j = 0; j < 2; ++j) {
00116     EXPECT_EQ(expected[j], result[j]);
00117   }
00118 }
00119 
00120 TEST(VelocityIteratorTest, test3) {
00121   double result[5];
00122   int i = 0;
00123   for(base_local_planner::VelocityIterator x_it(-30, 30, 3); !x_it.isFinished(); x_it++) {
00124     result[i] = x_it.getVelocity();
00125     i++;
00126   }
00127   EXPECT_EQ(3, i);
00128   double expected [3]= {-30.0, 0.0, 30};
00129   for (int j = 0; j < 3; ++j) {
00130     EXPECT_EQ(expected[j], result[j]);
00131   }
00132 }
00133 
00134 TEST(VelocityIteratorTest, test4) {
00135   double result[5];
00136   int i = 0;
00137   for(base_local_planner::VelocityIterator x_it(-30, 30, 4); !x_it.isFinished(); x_it++) {
00138     result[i] = x_it.getVelocity();
00139     i++;
00140   }
00141   EXPECT_EQ(5, i);
00142   double expected [5]= {-30.0, -10.0, 0.0, 10.0, 30};
00143   for (int j = 0; j < 5; ++j) {
00144     EXPECT_EQ(expected[j], result[j]);
00145   }
00146 }
00147 
00148 TEST(VelocityIteratorTest, test_shifted) {
00149   // test where zero is not in the middle
00150   double result[5];
00151   int i = 0;
00152   for(base_local_planner::VelocityIterator x_it(-10, 50, 4); !x_it.isFinished(); x_it++) {
00153     result[i] = x_it.getVelocity();
00154     i++;
00155   }
00156   EXPECT_EQ(5, i);
00157   double expected [5]= {-10.0, 0.0, 10.0, 30, 50};
00158   for (int j = 0; j < 5; ++j) {
00159     EXPECT_EQ(expected[j], result[j]);
00160   }
00161 }
00162 
00163 TEST(VelocityIteratorTest, test_cranky) {
00164   // test where one value is almost zero (nothing to do about that)
00165   double result[5];
00166   int i = 0;
00167   for(base_local_planner::VelocityIterator x_it(-10.00001, 10, 3); !x_it.isFinished(); x_it++) {
00168     result[i] = x_it.getVelocity();
00169     i++;
00170   }
00171   EXPECT_EQ(4, i);
00172   for (int j = 0; j < 5; ++j) {
00173         double expected [5]= {-10.00001, -0.000005, 0.0, 10.0};
00174     EXPECT_FLOAT_EQ(expected[j], result[j]);
00175   }
00176 }
00177 
00178 } // namespace


base_local_planner
Author(s): Eitan Marder-Eppstein, Eric Perko, contradict@gmail.com
autogenerated on Sun Mar 3 2019 03:46:30