98 lines
3.3 KiB
C++
Executable File
98 lines
3.3 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::compressPlan;
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using nav_2d_utils::addPose;
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TEST(CompressTest, compress_test)
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{
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nav_2d_msgs::Path2D path;
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// Dataset borrowed from https://karthaus.nl/rdp/
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addPose(path, 24, 173);
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addPose(path, 26, 170);
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addPose(path, 24, 166);
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addPose(path, 27, 162);
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addPose(path, 37, 161);
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addPose(path, 45, 157);
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addPose(path, 48, 152);
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addPose(path, 46, 143);
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addPose(path, 40, 140);
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addPose(path, 34, 137);
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addPose(path, 26, 134);
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addPose(path, 24, 130);
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addPose(path, 24, 125);
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addPose(path, 28, 121);
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addPose(path, 36, 118);
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addPose(path, 46, 117);
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addPose(path, 63, 121);
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addPose(path, 76, 125);
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addPose(path, 82, 120);
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addPose(path, 86, 111);
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addPose(path, 88, 103);
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addPose(path, 90, 91);
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addPose(path, 95, 87);
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addPose(path, 107, 89);
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addPose(path, 107, 104);
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addPose(path, 106, 117);
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addPose(path, 109, 129);
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addPose(path, 119, 131);
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addPose(path, 131, 131);
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addPose(path, 139, 134);
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addPose(path, 138, 143);
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addPose(path, 131, 152);
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addPose(path, 119, 154);
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addPose(path, 111, 149);
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addPose(path, 105, 143);
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addPose(path, 91, 139);
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addPose(path, 80, 142);
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addPose(path, 81, 152);
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addPose(path, 76, 163);
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addPose(path, 67, 161);
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addPose(path, 59, 149);
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addPose(path, 63, 138);
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EXPECT_EQ(41U, compressPlan(path, 0.1).poses.size());
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EXPECT_EQ(34U, compressPlan(path, 1.3).poses.size());
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EXPECT_EQ(12U, compressPlan(path, 9.5).poses.size());
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EXPECT_EQ(8U, compressPlan(path, 19.9).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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