HiepLM/mir_amr
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

git commit -m "first commit"

Browse Source
This commit is contained in:
HiepLM
2026-05-28 10:29:58 +07:00
commit 167c52aeb6
2048 changed files with 740251 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

138
navigations/nav_grid_iterators/test/line_tests.cpp Executable file
View File

@@ -0,0 +1,138 @@
/*
* 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();
}