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138
navigations/nav_grid_iterators/test/line_tests.cpp Executable file
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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_grid_iterators/line/bresenham.h>
#include <nav_grid_iterators/line/ray_trace.h>
template<class iterator_type>
int countIterations(iterator_type it, int max_iterations = 1000)
{
int count = 0;
iterator_type end = it.end();
for ( ; it != end; ++it)
{
++count;
if (count >= max_iterations) break;
}
return count;
}
TEST(Lines, line)
{
for (int i = 0; i <= 1; i++)
{
bool include_last_point = i == 0;
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 0, 0, include_last_point)), 1 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 3, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, -3, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(3, 0, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-3, 0, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 0, 3, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 0, -3, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 3, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, -3, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 1, 9, include_last_point)), 10 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, -1, -9, include_last_point)), 10 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(1, 9, 0, 0, include_last_point)), 10 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-1, -9, 0, 0, include_last_point)), 10 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(9, 1, 0, 0, include_last_point)), 10 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(0, 0, 9, 1, include_last_point)), 10 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-5, -5, 5, 5, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(-5, 5, 15, 5, include_last_point)), 21 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(15, 5, -5, 5, include_last_point)), 21 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::Bresenham(15, 5, 15, 7, include_last_point)), 3 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 0, 0, include_last_point)), 1 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 3, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, -3, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(3, 0, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-3, 0, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 0, 3, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 0, -3, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 3, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, -3, 0, 0, include_last_point)), 4 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 1, 9, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, -1, -9, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(1, 9, 0, 0, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-1, -9, 0, 0, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(9, 1, 0, 0, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(0, 0, 9, 1, include_last_point)), 11 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-5, -5, 5, 5, include_last_point)), 21 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(-5, 5, 15, 5, include_last_point)), 21 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(15, 5, -5, 5, include_last_point)), 21 - i);
EXPECT_EQ(countIterations(nav_grid_iterators::RayTrace(15, 5, 15, 7, include_last_point)), 3 - i);
}
}
TEST(Lines, border_conditions)
{
int N = 100;
int N2 = N / 2;
for (int include_last_point = 0; include_last_point <= 1; ++include_last_point)
{
for (int i=0; i < N; ++i)
{
EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, N2, i - N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, -N2, i - N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, i - N2, N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::Bresenham(0, 0, i - N2, -N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, N2, i - N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, -N2, i - N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, i - N2, N2, include_last_point)), N*3);
EXPECT_LT(countIterations(nav_grid_iterators::RayTrace(0, 0, i - N2, -N2, include_last_point)), N*3);
}
}
}
TEST(Lines, equality)
{
nav_grid_iterators::Bresenham it1(0, 0, 5, 5);
nav_grid_iterators::Bresenham it2(0, 0, 1, 1);
ASSERT_FALSE(it1 == it2);
}
TEST(Lines, test_copy)
{
// This test will fail to compile if you cannot use the copy operator
nav_grid_iterators::Bresenham bres(0, 0, 0, 0);
bres = bres.begin();
nav_grid_iterators::RayTrace rt(0, 0, 0, 0);
rt = rt.begin();
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

466
navigations/nav_grid_iterators/test/utest.cpp Executable file
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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_grid_iterators/iterators.h>
#include <algorithm>
#include <vector>
using nav_grid::Index;
template<class iterator_type>
int countIterations(iterator_type it, int max_iterations = 1000)
{
int count = 0;
iterator_type end = it.end();
for ( ; it != end; ++it)
{
++count;
if (count >= max_iterations) break;
}
return count;
}
TEST(WholeGrid, whole_grid)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
int count = 0;
for (nav_grid_iterators::WholeGrid it(info); it != it.end(); ++it)
{
Index i = *it;
ASSERT_EQ(i.x, count % info.width);
ASSERT_EQ(i.y, count / info.width);
++count;
}
ASSERT_EQ(count, 40);
}
TEST(WholeGrid, whole_grid_range)
{
nav_grid::NavGridInfo info;
info.width = 3;
info.height = 6;
int count = 0;
for (Index i : nav_grid_iterators::WholeGrid(info))
{
ASSERT_EQ(i.x, count % info.width);
ASSERT_EQ(i.y, count / info.width);
++count;
}
ASSERT_EQ(count, 18);
}
TEST(WholeGrid, std_stuff)
{
nav_grid::NavGridInfo info;
info.width = 8;
info.height = 2;
nav_grid_iterators::WholeGrid wg(info);
std::vector<Index> vec;
std::copy(wg.begin(), wg.end(), std::back_inserter(vec));
for (int count = 0; count < 16; ++count)
{
Index& i = vec[count];
ASSERT_EQ(i.x, count % info.width);
ASSERT_EQ(i.y, count / info.width);
}
}
TEST(SubGrid, sub_grid)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
int count = 0;
for (Index i : nav_grid_iterators::SubGrid(&info, 1, 2, 2, 3))
{
ASSERT_EQ(i.x, static_cast<unsigned int>(1 + count % 2));
ASSERT_EQ(i.y, static_cast<unsigned int>(2 + count / 2));
++count;
}
ASSERT_EQ(count, 6);
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, 1, 3, 4, 1)), 4);
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, 1, 3, 2, 2)), 4);
nav_core2::UIntBounds bounds(1, 3, 4, 3);
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 4);
// Empty Bounds
bounds.reset();
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 0);
// Partially Overlapping Bounds
bounds.touch(3, 2);
bounds.touch(6, 3);
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 4);
bounds.reset();
bounds.touch(1, 6);
bounds.touch(3, 9);
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, bounds)), 6);
// Different empty bounds
nav_core2::UIntBounds empty(1, 0, 0, 0);
ASSERT_EQ(countIterations(nav_grid_iterators::SubGrid(&info, empty)), 0);
}
TEST(SubGrid, equality)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
nav_grid_iterators::SubGrid it1(&info, 1, 2, 2, 3);
nav_grid_iterators::SubGrid it2(&info, 1, 2, 1, 1);
ASSERT_FALSE(it1 == it2);
}
TEST(CircleFill, circle)
{
nav_grid::NavGridInfo info;
info.width = 8;
info.height = 8;
info.resolution = 1.0;
ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.0, 4.0, 3.0)), 32);
ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.3, 4.0, 3.0)), 28);
ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.0, 4.0, 8.0)), 64);
ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 14.0, 4.0, 1.0)), 0);
ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 0.0, 4.0, 4.0)), 26);
ASSERT_EQ(countIterations(nav_grid_iterators::CircleFill(&info, 4.0, 4.0, 3.0).begin()), 32);
}
TEST(CircleFill, equality)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
nav_grid_iterators::CircleFill it1(&info, 4.0, 4.0, 8.0);
nav_grid_iterators::CircleFill it2(&info, 1.0, 1.0, 100.0);
ASSERT_FALSE(it1 == it2);
}
TEST(CircleOutline, circle_outline)
{
nav_grid::NavGridInfo info;
info.width = 8;
info.height = 8;
info.resolution = 1.0;
unsigned int size = 0;
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 8);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 16);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 20);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 14);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 5);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::CircleOutline(&info, 4.0, 4.0, size++)), 0);
}
TEST(CircleOutline, equality)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
nav_grid_iterators::CircleOutline it1(&info, 3.0, 1.0, 1.0);
nav_grid_iterators::CircleOutline it2(&info, 1.0, 1.0, 3.0);
ASSERT_FALSE(it1 == it2);
}
TEST(Spiral, spiral)
{
nav_grid::NavGridInfo info;
info.width = 8;
info.height = 8;
info.resolution = 1.0;
info.origin_x = 0.0;
info.origin_y = 0.0;
ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 4.0, 4.0, 3.0)), 32);
ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 4.3, 4.0, 3.0)), 28);
ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 4.0, 4.0, 8.0)), 64);
ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 14.0, 4.0, 1.0)), 0);
ASSERT_EQ(countIterations(nav_grid_iterators::Spiral(&info, 0.0, 4.0, 4.0)), 26);
}
TEST(Spiral, equality)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
nav_grid_iterators::Spiral it1(&info, 1.0, 1.0, 1.0);
nav_grid_iterators::Spiral it2(&info, 1.0, 1.0, 3.0);
ASSERT_FALSE(it1 == it2);
}
TEST(Line, signed_line)
{
nav_grid::NavGridInfo info;
info.width = 10;
info.height = 10;
info.resolution = 1.0;
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 3, 0)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, -3, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 3, 0, 0, 0)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -3, 0, 0, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -3, 0, 0, 0, false)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 3)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, -3)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 3, 0, 0)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, -3, 0, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 1, 9)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 1, 9, 0, 0)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 9, 1, 0, 0)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 9, 1)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -5, 5, 15, 5)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 15, 5, -5, 5)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 15, 5, 15, 7)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -1, -5, -1, -7)), 0);
}
TEST(Line, signed_line_diff_res)
{
// This is the same test as above with a reduced resolution. Most of the coordinates are divided by 10
// (with an additional 0.05 in some places to avoid floating point errors)
nav_grid::NavGridInfo info;
info.width = 10;
info.height = 10;
info.resolution = 0.1;
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0.35, 0)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, -0.35, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0.35, 0, 0, 0)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.35, 0, 0, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.35, 0, 0, 0, false)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, 0.35)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0, -0.35)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0.35, 0, 0)), 4);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, -0.35, 0, 0)), 1);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0.15, 0.95)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0.15, 0.95, 0, 0)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0.95, 0.15, 0, 0)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 0, 0, 0.95, 0.15)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.5, 0.5, 1.5, 0.5)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 1.5, 0.5, -0.55, 0.55)), 10);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 1.5, 0.5, 1.5, 0.75)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, -0.1, -0.5, -0.1, -0.7)), 0);
}
TEST(Line, random_test_case)
{
nav_grid::NavGridInfo info;
info.width = 795;
info.height = 925;
info.resolution = 0.05;
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 6.2402, 30.651832, 2.805347, 22.8941, false, false)), 224);
EXPECT_EQ(countIterations(nav_grid_iterators::Line(&info, 6.2402, 30.651832, 2.805347, 22.8941, true, false)), 225);
}
TEST(Line, equality)
{
nav_grid::NavGridInfo info;
info.width = 5;
info.height = 8;
nav_grid_iterators::Line it1(&info, 0, 0, 5, 5);
nav_grid_iterators::Line it2(&info, 0, 0, 1, 1);
ASSERT_FALSE(it1 == it2);
}
nav_2d_msgs::Point2D make_point(double x, double y)
{
nav_2d_msgs::Point2D pt;
pt.x = x;
pt.y = y;
return pt;
}
TEST(Polygon, polygon)
{
nav_grid::NavGridInfo info;
// First check to make sure it works when the polygon is completely on the grid
info.width = 10;
info.height = 10;
info.resolution = 1.0;
nav_2d_msgs::Polygon2D simple_square;
simple_square.points.push_back(make_point(1.4, 1.4));
simple_square.points.push_back(make_point(1.4, 3.6));
simple_square.points.push_back(make_point(3.6, 3.6));
simple_square.points.push_back(make_point(3.6, 1.4));
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, simple_square)), 8);
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, simple_square)), 9);
// Then do it again when it is only partially on the grid
info.height = 3;
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, simple_square)), 5);
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, simple_square)), 6);
// Then check when it is completely off the grid
info.resolution = 0.1;
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, simple_square)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, simple_square)), 0);
}
TEST(Polygon, empty_polygon)
{
nav_grid::NavGridInfo info;
info.width = 10;
info.height = 10;
info.resolution = 1.0;
nav_2d_msgs::Polygon2D empty_polygon;
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonOutline(&info, empty_polygon)), 0);
EXPECT_EQ(countIterations(nav_grid_iterators::PolygonFill(&info, empty_polygon)), 0);
}
TEST(Polygon, equality)
{
nav_grid::NavGridInfo info;
info.width = 10;
info.height = 10;
info.resolution = 1.0;
nav_2d_msgs::Polygon2D simple_square;
simple_square.points.push_back(make_point(1.4, 1.4));
simple_square.points.push_back(make_point(1.4, 3.6));
simple_square.points.push_back(make_point(3.6, 3.6));
simple_square.points.push_back(make_point(3.6, 1.4));
nav_2d_msgs::Polygon2D triangle;
triangle.points.push_back(make_point(1.4, 1.4));
triangle.points.push_back(make_point(1.4, 3.6));
triangle.points.push_back(make_point(3.6, 3.6));
nav_grid_iterators::PolygonOutline it1(&info, simple_square);
nav_grid_iterators::PolygonOutline it2(&info, triangle);
ASSERT_FALSE(it1 == it2);
nav_grid_iterators::PolygonFill it3(&info, simple_square);
nav_grid_iterators::PolygonFill it4(&info, triangle);
ASSERT_FALSE(it3 == it4);
}
TEST(Iterators, test_copy)
{
// This test will fail to compile if you cannot use the copy operator
nav_grid::NavGridInfo info;
info.width = 10;
info.height = 10;
info.resolution = 1.0;
nav_2d_msgs::Polygon2D simple_square;
simple_square.points.push_back(make_point(1.4, 1.4));
simple_square.points.push_back(make_point(1.4, 3.6));
simple_square.points.push_back(make_point(3.6, 3.6));
simple_square.points.push_back(make_point(3.6, 1.4));
nav_grid_iterators::WholeGrid whole_grid(info);
whole_grid = whole_grid.begin();
nav_grid_iterators::SubGrid sub_grid(&info, 1, 2, 2, 3);
sub_grid = sub_grid.begin();
nav_grid_iterators::CircleFill cf(&info, 4.0, 4.0, 3.0);
cf = cf.begin();
nav_grid_iterators::CircleOutline co(&info, 4.0, 4.0, 3.0);
co = co.begin();
nav_grid_iterators::Spiral spiral(&info, 4.0, 4.0, 3.0);
spiral = spiral.begin();
nav_grid_iterators::Line line(&info, 0, 0, 0, 0);
line = line.begin();
nav_grid_iterators::PolygonOutline po(&info, simple_square);
po = po.begin();
nav_grid_iterators::PolygonFill pf(&info, simple_square);
pf = pf.begin();
}
TEST(Iterators, test_assignment)
{
nav_grid::NavGridInfo info;
info.width = 10;
info.height = 10;
info.resolution = 1.0;
nav_grid_iterators::CircleFill iter1(&info, 3.0, 3.0, 1.0);
// Sequence should be (2, 2) (3, 2) (2, 3) (3, 3)
EXPECT_EQ((*iter1).x, 2U);
EXPECT_EQ((*iter1).y, 2U);
nav_grid_iterators::CircleFill iter2 = iter1;
// Effective Copy
EXPECT_EQ((*iter1).x, 2U);
EXPECT_EQ((*iter1).y, 2U);
EXPECT_EQ((*iter2).x, 2U);
EXPECT_EQ((*iter2).y, 2U);
// Increment only iter2
++iter2;
EXPECT_EQ((*iter1).x, 2U);
EXPECT_EQ((*iter1).y, 2U);
EXPECT_EQ((*iter2).x, 3U);
EXPECT_EQ((*iter2).y, 2U);
// Increment first to match
++iter1;
EXPECT_EQ((*iter1).x, 3U);
EXPECT_EQ((*iter1).y, 2U);
EXPECT_EQ((*iter2).x, 3U);
EXPECT_EQ((*iter2).y, 2U);
// Increment only iter2
++iter2;
EXPECT_EQ((*iter1).x, 3U);
EXPECT_EQ((*iter1).y, 2U);
EXPECT_EQ((*iter2).x, 2U);
EXPECT_EQ((*iter2).y, 3U);
// Check copy when not at the start
nav_grid_iterators::CircleFill iter3 = iter1;
EXPECT_EQ((*iter1).x, 3U);
EXPECT_EQ((*iter1).y, 2U);
EXPECT_EQ((*iter2).x, 2U);
EXPECT_EQ((*iter2).y, 3U);
EXPECT_EQ((*iter3).x, 3U);
EXPECT_EQ((*iter3).y, 2U);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}