git commit -m "first commit"

navigations/nav_2d_utils/test/compress_test.cpp

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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2018, 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 <nav_2d_utils/path_ops.h>
+
+using nav_2d_utils::compressPlan;
+using nav_2d_utils::addPose;
+
+TEST(CompressTest, compress_test)
+{
+  nav_2d_msgs::Path2D path;
+  // Dataset borrowed from https://karthaus.nl/rdp/
+  addPose(path, 24, 173);
+  addPose(path, 26, 170);
+  addPose(path, 24, 166);
+  addPose(path, 27, 162);
+  addPose(path, 37, 161);
+  addPose(path, 45, 157);
+  addPose(path, 48, 152);
+  addPose(path, 46, 143);
+  addPose(path, 40, 140);
+  addPose(path, 34, 137);
+  addPose(path, 26, 134);
+  addPose(path, 24, 130);
+  addPose(path, 24, 125);
+  addPose(path, 28, 121);
+  addPose(path, 36, 118);
+  addPose(path, 46, 117);
+  addPose(path, 63, 121);
+  addPose(path, 76, 125);
+  addPose(path, 82, 120);
+  addPose(path, 86, 111);
+  addPose(path, 88, 103);
+  addPose(path, 90, 91);
+  addPose(path, 95, 87);
+  addPose(path, 107, 89);
+  addPose(path, 107, 104);
+  addPose(path, 106, 117);
+  addPose(path, 109, 129);
+  addPose(path, 119, 131);
+  addPose(path, 131, 131);
+  addPose(path, 139, 134);
+  addPose(path, 138, 143);
+  addPose(path, 131, 152);
+  addPose(path, 119, 154);
+  addPose(path, 111, 149);
+  addPose(path, 105, 143);
+  addPose(path, 91, 139);
+  addPose(path, 80, 142);
+  addPose(path, 81, 152);
+  addPose(path, 76, 163);
+  addPose(path, 67, 161);
+  addPose(path, 59, 149);
+  addPose(path, 63, 138);
+
+  EXPECT_EQ(41U, compressPlan(path, 0.1).poses.size());
+  EXPECT_EQ(34U, compressPlan(path, 1.3).poses.size());
+  EXPECT_EQ(12U, compressPlan(path, 9.5).poses.size());
+  EXPECT_EQ(8U, compressPlan(path, 19.9).poses.size());
+}
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}