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#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();
}