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#include <gtest/gtest.h>
#include <robot_nav_2d_utils/path_ops.h>

using robot_nav_2d_utils::adjustPlanResolution;
using robot_nav_2d_utils::addPose;

TEST(ResolutionTest, simple_example)
{
  robot_nav_2d_msgs::Path2D path;
  // Space between points is one meter
  addPose(path, 0.0, 0.0);
  addPose(path, 0.0, 1.0);

  // resolution>=1, path won't change
  EXPECT_EQ(2U, adjustPlanResolution(path, 2.0).poses.size());
  EXPECT_EQ(2U, adjustPlanResolution(path, 1.0).poses.size());

  // 0.5 <= resolution < 1.0, one point should be added in the middle
  EXPECT_EQ(3U, adjustPlanResolution(path, 0.8).poses.size());
  EXPECT_EQ(3U, adjustPlanResolution(path, 0.5).poses.size());

  // 0.333 <= resolution < 0.5, two points need to be added
  EXPECT_EQ(4U, adjustPlanResolution(path, 0.34).poses.size());

  // 0.25 <= resolution < 0.333, three points need to be added
  EXPECT_EQ(5U, adjustPlanResolution(path, 0.32).poses.size());
}

TEST(ResolutionTest, real_example)
{
  // This test is based on a real-world example
  robot_nav_2d_msgs::Path2D path;
  addPose(path, 17.779193, -0.972024);
  addPose(path, 17.799171, -0.950775);
  addPose(path, 17.851942, -0.903709);
  EXPECT_EQ(3U, adjustPlanResolution(path, 0.2).poses.size());
  EXPECT_EQ(4U, adjustPlanResolution(path, 0.05).poses.size());
}


int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}
