occupancy_grid_test.cc

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/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer_ros/occupancy_grid.h"

#include <memory>

#include "cartographer/common/time.h"
#include "cartographer/sensor/range_data.h"
#include "gtest/gtest.h"
#include "ros/ros.h"

namespace cartographer_ros {
namespace {

TEST(OccupancyGridTest, ComputeMapLimits) {
  using ::cartographer::mapping::TrajectoryNode;
  const TrajectoryNode trajectory_node{
      std::make_shared<TrajectoryNode::Data>(TrajectoryNode::Data{
          ::cartographer::common::FromUniversal(52),
          ::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(),
                                            {Eigen::Vector3f(-30.f, 1.f, 0.f),
                                             Eigen::Vector3f(50.f, -10.f, 0.f)},
                                            {}},
          ::cartographer::sensor::Compress(::cartographer::sensor::RangeData{
              Eigen::Vector3f::Zero(), {}, {}}),
          ::cartographer::transform::Rigid3d::Identity()}),
      ::cartographer::transform::Rigid3d::Identity()};
  constexpr double kResolution = 0.05;
  const ::cartographer::mapping_2d::MapLimits limits =
      ComputeMapLimits(kResolution, {trajectory_node});
  constexpr float kPaddingAwareTolerance = 5 * kResolution;
  EXPECT_NEAR(50.f, limits.max().x(), kPaddingAwareTolerance);
  EXPECT_NEAR(1.f, limits.max().y(), kPaddingAwareTolerance);
  EXPECT_LT(200, limits.cell_limits().num_x_cells);
  EXPECT_LT(1600, limits.cell_limits().num_y_cells);
  EXPECT_GT(400, limits.cell_limits().num_x_cells);
  EXPECT_GT(2000, limits.cell_limits().num_y_cells);
}

}  // namespace
}  // namespace cartographer_ros