CLogOddsGridMapLUT_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <gtest/gtest.h>
#include <mrpt/maps/CLogOddsGridMapLUT.h>
#include <numeric>

template <typename cell_t>
void test_monotonic()
{
    mrpt::maps::CLogOddsGridMapLUT<cell_t> lut;
    float last_p = .0f;
    const auto i_init = std::numeric_limits<cell_t>::min();
    const auto i_end = std::numeric_limits<cell_t>::max();
    for (int64_t i = i_init; i <= i_end; i++)
    {
        // Ensure LUT is monotonic:
        const float new_p = lut.l2p(i);
        EXPECT_GE(new_p, last_p) << " i=" << i;
        last_p = new_p;
    }
    EXPECT_NEAR(lut.l2p(i_init), .0f, 0.05);
    EXPECT_NEAR(lut.l2p(i_end), 1.0f, 0.05);

    // Expect internal table to be monotonic:
    int64_t last_logodd = std::numeric_limits<int64_t>::min();
    for (size_t idx = 0; idx < lut.p2lTable.size(); idx++)
    {
        const int64_t next_logodd = lut.p2lTable[idx];
        EXPECT_GE(next_logodd, last_logodd) << "idx=" << idx;

        last_logodd = next_logodd;
    }
}

TEST(CLogOddsGridMapLUT, monotonic_8bit) { test_monotonic<int8_t>(); }

TEST(CLogOddsGridMapLUT, monotonic_16bit) { test_monotonic<int16_t>(); }