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