56 lines
1.2 KiB
C++
56 lines
1.2 KiB
C++
/*
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* EllipseIteratorTest.cpp
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*
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* Created on: Dec 2, 2015
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* Author: Péter Fankhauser
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* Institute: ETH Zurich, ANYbotics
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*/
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#include "grid_map_core/iterators/EllipseIterator.hpp"
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#include "grid_map_core/GridMap.hpp"
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// gtest
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#include <gtest/gtest.h>
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// Vector
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#include <vector>
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using robot_grid_map::GridMap;
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using robot_grid_map::Length;
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using robot_grid_map::Position;
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using robot_grid_map::EllipseIterator;
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TEST(EllipseIterator, OneCellWideEllipse)
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{
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GridMap map( { "types" });
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map.setGeometry(Length(8.0, 5.0), 1.0, Position(0.0, 0.0));
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EllipseIterator iterator(map, Position(0.0, 0.0), Length(8.0, 1.0));
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EXPECT_FALSE(iterator.isPastEnd());
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EXPECT_EQ(0, (*iterator)(0));
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EXPECT_EQ(2, (*iterator)(1));
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++iterator;
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EXPECT_FALSE(iterator.isPastEnd());
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EXPECT_EQ(1, (*iterator)(0));
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EXPECT_EQ(2, (*iterator)(1));
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++iterator;
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EXPECT_FALSE(iterator.isPastEnd());
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EXPECT_EQ(2, (*iterator)(0));
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EXPECT_EQ(2, (*iterator)(1));
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++iterator;
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++iterator;
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++iterator;
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++iterator;
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++iterator;
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EXPECT_FALSE(iterator.isPastEnd());
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EXPECT_EQ(7, (*iterator)(0));
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EXPECT_EQ(2, (*iterator)(1));
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++iterator;
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EXPECT_TRUE(iterator.isPastEnd());
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}
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