DuongTD/voxel_grid
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hiep update

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HiepLM
2025-12-30 10:41:57 +07:00
parent 795c70cb63
commit b19cec9f4d
164 changed files with 57 additions and 7606 deletions
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22
test/voxel_grid_tests.cpp
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@@ -34,12 +34,12 @@
*
* Author: Eitan Marder-Eppstein
*********************************************************************/
#include <voxel_grid/voxel_grid.h>
#include <robot_voxel_grid/voxel_grid.h>
#include <gtest/gtest.h>
TEST(voxel_grid, basicMarkingAndClearing){
TEST(robot_voxel_grid, basicMarkingAndClearing){
int size_x = 50, size_y = 10, size_z = 16;
voxel_grid::VoxelGrid vg(size_x, size_y, size_z);
robot_voxel_grid::VoxelGrid vg(size_x, size_y, size_z);
//Put a "tabletop" into the scene. A flat rectangle of set voxels at z = 12.
int table_z = 12;
@@ -52,7 +52,7 @@ TEST(voxel_grid, basicMarkingAndClearing){
for(int i = table_x_min; i <= table_x_max; ++i){
for(int j = table_y_min; j <= table_y_max; ++j){
//check that each cell of the table is marked
ASSERT_EQ(voxel_grid::MARKED, vg.getVoxel(i, j, table_z));
ASSERT_EQ(robot_voxel_grid::MARKED, vg.getVoxel(i, j, table_z));
}
}
@@ -62,10 +62,10 @@ TEST(voxel_grid, basicMarkingAndClearing){
for(unsigned int i = 0; i < vg.sizeX(); ++i){
for(unsigned int j = 0; j < vg.sizeY(); ++j){
for(unsigned int k = 0; k < vg.sizeZ(); ++k){
if(vg.getVoxel(i, j, k) == voxel_grid::MARKED){
if(vg.getVoxel(i, j, k) == robot_voxel_grid::MARKED){
mark_count++;
}
else if(vg.getVoxel(i, j, k) == voxel_grid::UNKNOWN){
else if(vg.getVoxel(i, j, k) == robot_voxel_grid::UNKNOWN){
unknown_count++;
}
}
@@ -86,13 +86,13 @@ TEST(voxel_grid, basicMarkingAndClearing){
for(unsigned int i = 0; i < vg.sizeX(); ++i){
for(unsigned int j = 0; j < vg.sizeY(); ++j){
for(unsigned int k = 0; k < vg.sizeZ(); ++k){
if(vg.getVoxel(i, j, k) == voxel_grid::MARKED){
if(vg.getVoxel(i, j, k) == robot_voxel_grid::MARKED){
mark_count++;
}
else if(vg.getVoxel(i, j, k) == voxel_grid::FREE){
else if(vg.getVoxel(i, j, k) == robot_voxel_grid::FREE){
free_count++;
}
else if(vg.getVoxel(i, j, k) == voxel_grid::UNKNOWN){
else if(vg.getVoxel(i, j, k) == robot_voxel_grid::UNKNOWN){
unknown_count++;
}
}
@@ -111,7 +111,7 @@ TEST(voxel_grid, basicMarkingAndClearing){
//now let's put in a vertical column manually to test markVoxel
for(unsigned int i = 0; i < vg.sizeZ(); ++i){
vg.markVoxel(0, 0, i);
ASSERT_EQ(vg.getVoxel(0, 0, i), voxel_grid::MARKED);
ASSERT_EQ(vg.getVoxel(0, 0, i), robot_voxel_grid::MARKED);
}
vg.printColumnGrid();
@@ -121,7 +121,7 @@ TEST(voxel_grid, basicMarkingAndClearing){
vg.clearVoxelLine(0, 0, 0, 0, 0, vg.sizeZ() - 1);
for(unsigned int i = 0; i < vg.sizeZ(); ++i){
ASSERT_EQ(vg.getVoxel(0, 0, i), voxel_grid::FREE);
ASSERT_EQ(vg.getVoxel(0, 0, i), robot_voxel_grid::FREE);
}
mark_count = 0;