133 lines
4.2 KiB
C++
133 lines
4.2 KiB
C++
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, Locus Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// Tests ripped from https://github.com/locusrobotics/robot_navigation/blob/master/nav_grid/test/utest.cpp
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#include <gtest/gtest.h>
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#include <costmap_2d/costmap_2d.h>
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using namespace costmap_2d;
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TEST(CostmapCoordinates, easy_coordinates_test)
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{
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Costmap2D costmap(2, 3, 1.0, 0, 0);
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double wx, wy;
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costmap.mapToWorld(0u, 0u, wx, wy);
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EXPECT_DOUBLE_EQ(wx, 0.5);
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EXPECT_DOUBLE_EQ(wy, 0.5);
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costmap.mapToWorld(1u, 2u, wx, wy);
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EXPECT_DOUBLE_EQ(wx, 1.5);
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EXPECT_DOUBLE_EQ(wy, 2.5);
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unsigned int umx, umy;
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int mx, my;
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ASSERT_TRUE(costmap.worldToMap(wx, wy, umx, umy));
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EXPECT_EQ(umx, 1);
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EXPECT_EQ(umy, 2);
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costmap.worldToMapNoBounds(wx, wy, mx, my);
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EXPECT_EQ(mx, 1);
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EXPECT_EQ(my, 2);
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// Invalid Coordinate
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wx = 2.5;
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EXPECT_FALSE(costmap.worldToMap(wx, wy, umx, umy));
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costmap.worldToMapEnforceBounds(wx, wy, mx, my);
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EXPECT_EQ(mx, 1);
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EXPECT_EQ(my, 2);
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costmap.worldToMapNoBounds(wx, wy, mx, my);
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EXPECT_EQ(mx, 2);
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EXPECT_EQ(my, 2);
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// Border Cases
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EXPECT_TRUE(costmap.worldToMap(0.0, wy, umx, umy));
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EXPECT_EQ(umx, 0);
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EXPECT_TRUE(costmap.worldToMap(0.25, wy, umx, umy));
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EXPECT_EQ(umx, 0);
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EXPECT_TRUE(costmap.worldToMap(0.75, wy, umx, umy));
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EXPECT_EQ(umx, 0);
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EXPECT_TRUE(costmap.worldToMap(0.9999, wy, umx, umy));
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EXPECT_EQ(umx, 0);
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EXPECT_TRUE(costmap.worldToMap(1.0, wy, umx, umy));
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EXPECT_EQ(umx, 1);
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EXPECT_TRUE(costmap.worldToMap(1.25, wy, umx, umy));
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EXPECT_EQ(umx, 1);
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EXPECT_TRUE(costmap.worldToMap(1.75, wy, umx, umy));
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EXPECT_EQ(umx, 1);
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EXPECT_TRUE(costmap.worldToMap(1.9999, wy, umx, umy));
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EXPECT_EQ(umx, 1);
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EXPECT_FALSE(costmap.worldToMap(2.0, wy, umx, umy));
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costmap.worldToMapEnforceBounds(2.0, wy, mx, my);
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EXPECT_EQ(mx, 1);
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}
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TEST(CostmapCoordinates, hard_coordinates_test)
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{
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Costmap2D costmap(2, 3, 0.1, -0.2, 0.2);
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double wx, wy;
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costmap.mapToWorld(0, 0, wx, wy);
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EXPECT_DOUBLE_EQ(wx, -0.15);
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EXPECT_DOUBLE_EQ(wy, 0.25);
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costmap.mapToWorld(1, 2, wx, wy);
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EXPECT_DOUBLE_EQ(wx, -0.05);
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EXPECT_DOUBLE_EQ(wy, 0.45);
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unsigned int umx, umy;
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int mx, my;
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EXPECT_TRUE(costmap.worldToMap(wx, wy, umx, umy));
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EXPECT_EQ(umx, 1);
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EXPECT_EQ(umy, 2);
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costmap.worldToMapNoBounds(wx, wy, mx, my);
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EXPECT_EQ(mx, 1);
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EXPECT_EQ(my, 2);
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// Invalid Coordinate
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wx = 2.5;
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EXPECT_FALSE(costmap.worldToMap(wx, wy, umx, umy));
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costmap.worldToMapEnforceBounds(wx, wy, mx, my);
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EXPECT_EQ(mx, 1);
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EXPECT_EQ(my, 2);
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costmap.worldToMapNoBounds(wx, wy, mx, my);
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EXPECT_EQ(mx, 27);
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EXPECT_EQ(my, 2);
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}
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int main(int argc, char** argv)
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{
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testing::InitGoogleTest( &argc, argv );
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return RUN_ALL_TESTS();
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}
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