LineIteratorTest.cpp
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00001 /*
00002  * LineIteratorTest.cpp
00003  *
00004  *  Created on: Sep 14, 2016
00005  *      Author: Dominic Jud
00006  *       Institute: ETH Zurich, Robotic Systems Lab
00007  */
00008 
00009 #include "grid_map_core/iterators/LineIterator.hpp"
00010 #include "grid_map_core/GridMap.hpp"
00011 
00012 // gtest
00013 #include <gtest/gtest.h>
00014 
00015 // Limits
00016 #include <cfloat>
00017 
00018 using namespace grid_map;
00019 
00020 TEST(LineIterator, StartOutsideMap)
00021 {
00022   GridMap map( { "types" });
00023   map.setGeometry(Length(8.0, 5.0), 1.0, Position(0.0, 0.0));
00024 
00025   LineIterator iterator(map, Position(2.0, 2.0), Position(0.0, 0.0));
00026 
00027   EXPECT_FALSE(iterator.isPastEnd());
00028   EXPECT_EQ(2, (*iterator)(0));
00029   EXPECT_EQ(0, (*iterator)(1));
00030 
00031   ++iterator;
00032   EXPECT_FALSE(iterator.isPastEnd());
00033   EXPECT_EQ(3, (*iterator)(0));
00034   EXPECT_EQ(1, (*iterator)(1));
00035 
00036   ++iterator;
00037   EXPECT_FALSE(iterator.isPastEnd());
00038   EXPECT_EQ(4, (*iterator)(0));
00039   EXPECT_EQ(2, (*iterator)(1));
00040 
00041   ++iterator;
00042   EXPECT_TRUE(iterator.isPastEnd());
00043 }
00044 
00045 TEST(LineIterator, EndOutsideMap)
00046 {
00047   GridMap map( { "types" });
00048   map.setGeometry(Length(8.0, 5.0), 1.0, Position(0.0, 0.0));
00049 
00050   LineIterator iterator(map, Position(0.0, 0.0), Position(9.0, 6.0));
00051 
00052   EXPECT_FALSE(iterator.isPastEnd());
00053   EXPECT_EQ(4, (*iterator)(0));
00054   EXPECT_EQ(2, (*iterator)(1));
00055 
00056   ++iterator;
00057   EXPECT_FALSE(iterator.isPastEnd());
00058   EXPECT_EQ(3, (*iterator)(0));
00059   EXPECT_EQ(1, (*iterator)(1));
00060 
00061   ++iterator;
00062   EXPECT_FALSE(iterator.isPastEnd());
00063   EXPECT_EQ(2, (*iterator)(0));
00064   EXPECT_EQ(1, (*iterator)(1));
00065 
00066   ++iterator;
00067   EXPECT_FALSE(iterator.isPastEnd());
00068   ++iterator;
00069   EXPECT_FALSE(iterator.isPastEnd());
00070   ++iterator;
00071   EXPECT_TRUE(iterator.isPastEnd());
00072 }
00073 
00074 TEST(LineIterator, StartAndEndOutsideMap)
00075 {
00076   GridMap map( { "types" });
00077   map.setGeometry(Length(8.0, 5.0), 1.0, Position(0.0, 0.0));
00078 
00079   LineIterator iterator(map, Position(-7.0, -9.0), Position(8.0, 8.0));
00080 
00081   EXPECT_FALSE(iterator.isPastEnd());
00082   EXPECT_EQ(5, (*iterator)(0));
00083   EXPECT_EQ(4, (*iterator)(1));
00084 
00085   ++iterator;
00086   EXPECT_FALSE(iterator.isPastEnd());
00087   EXPECT_EQ(4, (*iterator)(0));
00088   EXPECT_EQ(3, (*iterator)(1));
00089 
00090   ++iterator;
00091   EXPECT_FALSE(iterator.isPastEnd());
00092   EXPECT_EQ(3, (*iterator)(0));
00093   EXPECT_EQ(2, (*iterator)(1));
00094 
00095   ++iterator;
00096   ++iterator;
00097   ++iterator;
00098   EXPECT_TRUE(iterator.isPastEnd());
00099 }
00100 
00101 TEST(LineIterator, StartAndEndOutsideMapWithoutIntersectingMap)
00102 {
00103   GridMap map( { "types" });
00104   map.setGeometry(Length(8.0, 5.0), 1.0, Position(0.0, 0.0));
00105 
00106   LineIterator iterator(map, Position(-8.0, 8.0), Position(8.0, 8.0));
00107 
00108   EXPECT_TRUE(iterator.isPastEnd());
00109 }
00110 
00111 TEST(LineIterator, MovedMap)
00112 {
00113   GridMap map( { "types" });
00114   map.setGeometry(Length(7.0, 5.0), 1.0, Position(0.0, 0.0));
00115   map.move(Position(2.0, 2.0));
00116 
00117   LineIterator iterator(map, Position(0.0, 0.0), Position(2.0, 2.0));
00118   Position point;
00119 
00120   EXPECT_FALSE(iterator.isPastEnd());
00121   map.getPosition(*iterator, point);
00122   EXPECT_EQ(0, point.x());
00123   EXPECT_EQ(0, point.y());
00124 
00125   ++iterator;
00126   EXPECT_FALSE(iterator.isPastEnd());
00127   map.getPosition(*iterator, point);
00128   EXPECT_EQ(1, point.x());
00129   EXPECT_EQ(1, point.y());
00130 
00131   ++iterator;
00132   EXPECT_FALSE(iterator.isPastEnd());
00133   map.getPosition(*iterator, point);
00134   EXPECT_EQ(2, point.x());
00135   EXPECT_EQ(2, point.y());
00136 
00137   ++iterator;
00138   EXPECT_TRUE(iterator.isPastEnd());
00139 }
00140 
00141 TEST(LineIterator, StartAndEndOutsideMovedMap)
00142 {
00143   GridMap map( { "types" });
00144   map.setGeometry(Length(7.0, 5.0), 1.0, Position(0.0, 0.0));
00145   map.move(Position(2.0, 2.0));
00146 
00147   LineIterator iterator(map, Position(0.0, 0.0), Position(8.0, 8.0));
00148   Position point;
00149 
00150   EXPECT_FALSE(iterator.isPastEnd());
00151   map.getPosition(*iterator, point);
00152   EXPECT_EQ(0, point.x());
00153   EXPECT_EQ(0, point.y());
00154 
00155   ++iterator;
00156   map.getPosition(*iterator, point);
00157   EXPECT_EQ(1, point.x());
00158   EXPECT_EQ(1, point.y());
00159   //
00160   ++iterator;
00161   map.getPosition(*iterator, point);
00162   EXPECT_EQ(2, point.x());
00163   EXPECT_EQ(2, point.y());
00164   //
00165   ++iterator;
00166   map.getPosition(*iterator, point);
00167   EXPECT_EQ(3, point.x());
00168   EXPECT_EQ(3, point.y());
00169 
00170   ++iterator;
00171   map.getPosition(*iterator, point);
00172   EXPECT_EQ(4, point.x());
00173   EXPECT_EQ(4, point.y());
00174 
00175   ++iterator;
00176   EXPECT_TRUE(iterator.isPastEnd());
00177 }


grid_map_core
Author(s): Péter Fankhauser
autogenerated on Mon Oct 9 2017 03:09:16