git commit -m "first commit"

navigations/dwb_plugins/test/velocity_iterator_test.cpp

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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <gtest/gtest.h>
+#include <dwb_plugins/one_d_velocity_iterator.h>
+
+using dwb_plugins::OneDVelocityIterator;
+using dwb_plugins::projectVelocity;
+
+const double EPSILON = 1e-3;
+
+TEST(VelocityIterator, basics)
+{
+  OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 1.0, 2);
+  EXPECT_FALSE(it.isFinished());
+  EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON);
+  EXPECT_FALSE(it.isFinished());
+  ++it;
+  EXPECT_FALSE(it.isFinished());
+  EXPECT_NEAR(it.getVelocity(), 3.0, EPSILON);
+  EXPECT_FALSE(it.isFinished());
+  ++it;
+  EXPECT_TRUE(it.isFinished());
+  it.reset();
+  EXPECT_FALSE(it.isFinished());
+  EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON);
+}
+
+TEST(VelocityIterator, limits)
+{
+  OneDVelocityIterator it(2.0, 1.5, 2.5, 1.0, -1.0, 1.0, 2);
+  EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON);
+}
+
+TEST(VelocityIterator, acceleration)
+{
+  OneDVelocityIterator it(2.0, 0.0, 5.0, 0.5, -0.5, 1.0, 2);
+  EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON);
+}
+
+
+TEST(VelocityIterator, time)
+{
+  OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 0.5, 2);
+  EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON);
+}
+
+TEST(VelocityIterator, samples)
+{
+  OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 1.0, 3);
+  EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 2.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 3.0, EPSILON);
+  ++it;
+  EXPECT_TRUE(it.isFinished());
+}
+
+
+TEST(VelocityIterator, samples2)
+{
+  OneDVelocityIterator it(2.0, 0.0, 5.0, 1.0, -1.0, 1.0, 5);
+  EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 1.5, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 2.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 2.5, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 3.0, EPSILON);
+  ++it;
+  EXPECT_TRUE(it.isFinished());
+}
+
+TEST(VelocityIterator, around_zero)
+{
+  OneDVelocityIterator it(0.0, -5.0, 5.0, 1.0, -1.0, 1.0, 2);
+  EXPECT_NEAR(it.getVelocity(), -1.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 0.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON);
+  ++it;
+}
+
+TEST(VelocityIterator, around_zero2)
+{
+  OneDVelocityIterator it(0.0, -5.0, 5.0, 1.0, -1.0, 1.0, 4);
+  EXPECT_NEAR(it.getVelocity(), -1.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), -0.3333, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 0.0, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 0.3333, EPSILON);
+  ++it;
+  EXPECT_NEAR(it.getVelocity(), 1.0, EPSILON);
+  ++it;
+}
+
+TEST(VelocityIterator, acceleration_magnitude)
+{
+  double accel_rate = 2.0;
+  double decel_rate = -3.0;
+  EXPECT_NEAR(projectVelocity(+0.0, accel_rate, decel_rate, 0.1, +1.5), +0.2, EPSILON);
+  EXPECT_NEAR(projectVelocity(+0.0, accel_rate, decel_rate, 0.1, -1.5), -0.2, EPSILON);
+  EXPECT_NEAR(projectVelocity(+1.0, accel_rate, decel_rate, 0.1, +1.5), +1.2, EPSILON);
+  EXPECT_NEAR(projectVelocity(+1.0, accel_rate, decel_rate, 0.1, +0.5), +0.7, EPSILON);
+  EXPECT_NEAR(projectVelocity(-1.0, accel_rate, decel_rate, 0.1, -1.5), -1.2, EPSILON);
+  EXPECT_NEAR(projectVelocity(-1.0, accel_rate, decel_rate, 0.1, -0.5), -0.7, EPSILON);
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}