62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/2d/xy_index.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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TEST(XYIndexTest, CellLimitsToProto) {
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const CellLimits limits(1, 2);
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const auto proto = ToProto(limits);
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EXPECT_EQ(limits.num_x_cells, proto.num_x_cells());
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EXPECT_EQ(limits.num_y_cells, proto.num_y_cells());
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}
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TEST(XYIndexTest, CellLimitsProtoConstructor) {
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proto::CellLimits limits;
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limits.set_num_x_cells(1);
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limits.set_num_y_cells(2);
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auto native = CellLimits(limits);
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EXPECT_EQ(limits.num_x_cells(), native.num_x_cells);
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EXPECT_EQ(limits.num_y_cells(), native.num_y_cells);
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}
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TEST(XYIndexTest, XYIndexRangeIterator) {
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const Eigen::Array2i min(1, 2);
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const Eigen::Array2i max(3, 4);
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XYIndexRangeIterator it(min, max);
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EXPECT_TRUE((min == *it.begin()).all()) << *it.begin();
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EXPECT_TRUE((Eigen::Array2i(1, 5) == *it.end()).all()) << *it.end();
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EXPECT_TRUE((min == *it).all()) << *it;
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int num_indices = 0;
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for (const Eigen::Array2i& xy_index : XYIndexRangeIterator(min, max)) {
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LOG(INFO) << xy_index;
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EXPECT_TRUE((xy_index >= min).all());
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EXPECT_TRUE((xy_index <= max).all());
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++num_indices;
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}
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EXPECT_EQ(9, num_indices);
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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