60 lines
1.4 KiB
C++
60 lines
1.4 KiB
C++
/*
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* GridMapDataIterator.cpp
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*
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* Created on: Feb 16, 2016
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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/GridMapIterator.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::GridMapIterator;
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TEST(GridMapIterator, Simple)
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{
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GridMap map;
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map.setGeometry(Length(8.1, 5.1), 1.0, Position(0.0, 0.0)); // bufferSize(8, 5)
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map.add("layer", 0.0);
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GridMapIterator iterator(map);
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unsigned int i = 0;
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for (; !iterator.isPastEnd(); ++iterator, ++i) {
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map.at("layer", *iterator) = 1.0;
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EXPECT_FALSE(iterator.isPastEnd());
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}
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EXPECT_EQ(40, i);
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EXPECT_TRUE(iterator.isPastEnd());
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EXPECT_TRUE((map["layer"].array() == 1.0f).all());
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}
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TEST(GridMapIterator, LinearIndex)
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{
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GridMap map;
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map.setGeometry(Length(8.1, 5.1), 1.0, Position(0.0, 0.0)); // bufferSize(8, 5)
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map.add("layer", 0.0);
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GridMapIterator iterator(map);
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auto& data = map["layer"];
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unsigned int i = 0;
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for (; !iterator.isPastEnd(); ++iterator, ++i) {
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data(static_cast<long>(iterator.getLinearIndex())) = 1.0;
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EXPECT_EQ(i, iterator.getLinearIndex());
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EXPECT_FALSE(iterator.isPastEnd());
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}
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EXPECT_EQ(40, i);
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EXPECT_TRUE(iterator.isPastEnd());
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EXPECT_TRUE((map["layer"].array() == 1.0f).all());
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}
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