70 lines
2.8 KiB
C++
70 lines
2.8 KiB
C++
/*
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* Copyright (c) 2021, Charles River Analytics, Inc.
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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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* 1. 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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* 2. 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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* 3. 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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#include "robot_localization/navsat_conversions.h"
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#include <gtest/gtest.h>
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#include <string>
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void NavsatConversionsTest(const double lat, const double lon,
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const double UTMNorthing, const double UTMEasting,
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const std::string UTMZone, const double gamma)
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{
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double UTMNorthing_new;
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double UTMEasting_new;
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std::string UTMZone_new;
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double gamma_new;
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RobotLocalization::NavsatConversions::LLtoUTM(lat, lon, UTMNorthing_new, UTMEasting_new, UTMZone_new, gamma_new);
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EXPECT_NEAR(UTMNorthing, UTMNorthing_new, 1e-2);
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EXPECT_NEAR(UTMEasting, UTMEasting_new, 1e-2);
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EXPECT_EQ(UTMZone, UTMZone_new);
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EXPECT_NEAR(gamma, gamma_new, 1e-2);
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double lat_new;
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double lon_new;
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RobotLocalization::NavsatConversions::UTMtoLL(UTMNorthing, UTMEasting, UTMZone, lat_new, lon_new);
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EXPECT_NEAR(lat_new, lat, 1e-5);
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EXPECT_NEAR(lon_new, lon, 1e-5);
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}
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TEST(NavsatConversionsTest, UtmTest)
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{
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NavsatConversionsTest(51.423964, 5.494271, 5699924.709, 673409.989, "31U", 1.950);
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NavsatConversionsTest(-43.530955, 172.636645, 5178919.718, 632246.802, "59G", -1.127);
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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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