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navigations/nav_2d_utils/test/resolution_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::adjustPlanResolution;
+using nav_2d_utils::addPose;
+
+TEST(ResolutionTest, simple_example)
+{
+  nav_2d_msgs::Path2D path;
+  // Space between points is one meter
+  addPose(path, 0.0, 0.0);
+  addPose(path, 0.0, 1.0);
+
+  // resolution>=1, path won't change
+  EXPECT_EQ(2U, adjustPlanResolution(path, 2.0).poses.size());
+  EXPECT_EQ(2U, adjustPlanResolution(path, 1.0).poses.size());
+
+  // 0.5 <= resolution < 1.0, one point should be added in the middle
+  EXPECT_EQ(3U, adjustPlanResolution(path, 0.8).poses.size());
+  EXPECT_EQ(3U, adjustPlanResolution(path, 0.5).poses.size());
+
+  // 0.333 <= resolution < 0.5, two points need to be added
+  EXPECT_EQ(4U, adjustPlanResolution(path, 0.34).poses.size());
+
+  // 0.25 <= resolution < 0.333, three points need to be added
+  EXPECT_EQ(5U, adjustPlanResolution(path, 0.32).poses.size());
+}
+
+TEST(ResolutionTest, real_example)
+{
+  // This test is based on a real-world example
+  nav_2d_msgs::Path2D path;
+  addPose(path, 17.779193, -0.972024);
+  addPose(path, 17.799171, -0.950775);
+  addPose(path, 17.851942, -0.903709);
+  EXPECT_EQ(3U, adjustPlanResolution(path, 0.2).poses.size());
+  EXPECT_EQ(4U, adjustPlanResolution(path, 0.05).poses.size());
+}
+
+
+int main(int argc, char** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}