79 lines
3.0 KiB
C++
Executable File
79 lines
3.0 KiB
C++
Executable File
/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2018, Locus Robotics
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <gtest/gtest.h>
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#include <nav_2d_utils/path_ops.h>
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using nav_2d_utils::adjustPlanResolution;
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using nav_2d_utils::addPose;
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TEST(ResolutionTest, simple_example)
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{
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nav_2d_msgs::Path2D path;
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// Space between points is one meter
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addPose(path, 0.0, 0.0);
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addPose(path, 0.0, 1.0);
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// resolution>=1, path won't change
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EXPECT_EQ(2U, adjustPlanResolution(path, 2.0).poses.size());
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EXPECT_EQ(2U, adjustPlanResolution(path, 1.0).poses.size());
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// 0.5 <= resolution < 1.0, one point should be added in the middle
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EXPECT_EQ(3U, adjustPlanResolution(path, 0.8).poses.size());
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EXPECT_EQ(3U, adjustPlanResolution(path, 0.5).poses.size());
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// 0.333 <= resolution < 0.5, two points need to be added
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EXPECT_EQ(4U, adjustPlanResolution(path, 0.34).poses.size());
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// 0.25 <= resolution < 0.333, three points need to be added
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EXPECT_EQ(5U, adjustPlanResolution(path, 0.32).poses.size());
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}
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TEST(ResolutionTest, real_example)
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{
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// This test is based on a real-world example
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nav_2d_msgs::Path2D path;
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addPose(path, 17.779193, -0.972024);
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addPose(path, 17.799171, -0.950775);
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addPose(path, 17.851942, -0.903709);
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EXPECT_EQ(3U, adjustPlanResolution(path, 0.2).poses.size());
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EXPECT_EQ(4U, adjustPlanResolution(path, 0.05).poses.size());
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}
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int main(int argc, char** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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