boustrophedon_decomp_test.cpp

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//=============================================================================
//    Copyright (C) 2021-2024 Wageningen University - All Rights Reserved
//                     Author: Gonzalo Mier
//                        BSD-3 License
//=============================================================================
 
#include <gtest/gtest.h>
#include <fstream>
#include "fields2cover/decomposition/boustrophedon_decomp.h"
#include "fields2cover/objectives/sg_obj/n_swath.h"
#include "fields2cover/utils/random.h"
#include "fields2cover/types.h"
 
TEST(fields2cover_decomp_boustrophedon, decompose) {
  f2c::Random rand(42);
  F2CCells non_convex_field {rand.genNonConvexCell(1e3)};
  F2CCells convex_field {rand.genConvexCell(1e2)};
  F2CCells cells = non_convex_field.difference(convex_field);
 
  f2c::decomp::BoustrophedonDecomp decomp;
  decomp.setSplitAngle(0.5*M_PI);
  auto decomp_lines = decomp.genSplitLines(cells);
  auto decomp_field = decomp.decompose(cells);
  EXPECT_EQ(decomp_field.size(), 4);
  EXPECT_NEAR(decomp_field.area(), cells.area(), 1e-3);
}