test_regular_grid.cpp

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// Copyright 2023 Ekumen, Inc.
//
// 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 <gtest/gtest.h>
 
#include <vector>
 
#include <range/v3/range/conversion.hpp>
 
#include "beluga/sensor/data/regular_grid.hpp"
 
namespace {
 
class TestRegularGrid2 : public beluga::BaseRegularGrid2<TestRegularGrid2> {
 public:
  [[nodiscard]] static double resolution() { return 1.; }
};
 
class TestRegularGrid3 : public beluga::BaseRegularGrid3<TestRegularGrid3> {
 public:
  [[nodiscard]] static double resolution() { return 1.; }
};
 
TEST(RegularGrid2, NearestCells) {
  const auto grid = TestRegularGrid2{};
 
  EXPECT_EQ(grid.cell_near(Eigen::Vector2d(0, 0)), Eigen::Vector2i(0, 0));
  EXPECT_EQ(grid.cell_near(Eigen::Vector2d(1.5, 0.5)), Eigen::Vector2i(1, 0));
}
 
TEST(RegularGrid2, CoordinatesAtCell) {
  const auto grid = TestRegularGrid2{};
 
  EXPECT_TRUE(grid.coordinates_at(Eigen::Vector2i(0, 0)).isApprox(Eigen::Vector2d(0.5, 0.5)));
  EXPECT_TRUE(grid.coordinates_at(Eigen::Vector2i(1, 0)).isApprox(Eigen::Vector2d(1.5, 0.5)));
}
 
TEST(RegularGrid2, CoordinatesForCells) {
  const auto grid = TestRegularGrid2{};
 
  const auto cells = std::vector{Eigen::Vector2i(1, 0), Eigen::Vector2i(4, 1)};
  const auto coordinates = grid.coordinates_for(cells) | ranges::to<std::vector>;
  EXPECT_EQ(coordinates.size(), 2);
  EXPECT_TRUE(coordinates[0].isApprox(Eigen::Vector2d(1.5, 0.5)));
  EXPECT_TRUE(coordinates[1].isApprox(Eigen::Vector2d(4.5, 1.5)));
}
 
TEST(RegularGrid3, CoordinatesForCells) {
  const auto grid = TestRegularGrid3{};
 
  const auto cells = std::vector{Eigen::Vector3i(1, 0, 0), Eigen::Vector3i(4, 1, -1)};
  const auto coordinates = grid.coordinates_for(cells) | ranges::to<std::vector>;
  EXPECT_EQ(coordinates.size(), 2);
  EXPECT_TRUE(coordinates[0].isApprox(Eigen::Vector3d(1.5, 0.5, 0.5)));
  EXPECT_TRUE(coordinates[1].isApprox(Eigen::Vector3d(4.5, 1.5, -0.5)));
}
 
}  // namespace