CPointsMap_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/maps/CWeightedPointsMap.h>
#include <mrpt/maps/CColouredPointsMap.h>
#include <mrpt/poses/CPoint2D.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::obs;
using namespace mrpt::utils;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace std;

const size_t demo9_N = 9;
const float demo9_xs[demo9_N] = {0, 0, 0, 1, 1, 1, 2, 2, 2};
const float demo9_ys[demo9_N] = {0, 1, 2, 0, 1, 2, 0, 1, 2};
const float demo9_zs[demo9_N] = {0, 1, 2, 0, 1, 2, 0, 1, 2};

template <class MAP>
void load_demo_9pts_map(MAP& pts)
{
        pts.clear();
        for (size_t i = 0; i < demo9_N; i++)
                pts.insertPoint(demo9_xs[i], demo9_ys[i], demo9_zs[i]);
}

template <class MAP>
void do_test_insertPoints()
{
        // test 1: Insert and check expected values:
        {
                MAP pts;
                load_demo_9pts_map(pts);

                EXPECT_EQ(pts.size(), demo9_N);

                for (size_t i = 0; i < demo9_N; i++)
                {
                        float x, y, z;
                        pts.getPoint(i, x, y, z);
                        EXPECT_EQ(x, demo9_xs[i]);
                        EXPECT_EQ(y, demo9_ys[i]);
                        EXPECT_EQ(z, demo9_zs[i]);
                }
        }

        // test 2: Copy between maps
        {
                MAP pts1;
                load_demo_9pts_map(pts1);

                MAP pts2 = pts1;
                MAP pts3 = pts1;

                EXPECT_EQ(pts2.size(), pts3.size());
                for (size_t i = 0; i < demo9_N; i++)
                {
                        float x2, y2, z2;
                        float x3, y3, z3;
                        pts2.getPoint(i, x2, y2, z2);
                        pts3.getPoint(i, x3, y3, z3);
                        EXPECT_EQ(x2, x3);
                        EXPECT_EQ(y2, y3);
                        EXPECT_EQ(z2, z3);
                }
        }
}

template <class MAP>
void do_test_clipOutOfRangeInZ()
{
        MAP pts0;
        load_demo_9pts_map(pts0);

        // Clip: z=[-10,-1] -> 0 pts
        {
                MAP pts = pts0;
                pts.clipOutOfRangeInZ(-10, -1);
                EXPECT_EQ(pts.size(), 0u);
        }

        // Clip: z=[-10,10] -> 9 pts
        {
                MAP pts = pts0;
                pts.clipOutOfRangeInZ(-10, 10);
                EXPECT_EQ(pts.size(), 9u);
        }

        // Clip: z=[0.5,1.5] -> 3 pts
        {
                MAP pts = pts0;
                pts.clipOutOfRangeInZ(0.5, 1.5);
                EXPECT_EQ(pts.size(), 3u);
        }
}

template <class MAP>
void do_test_clipOutOfRange()
{
        MAP pts0;
        load_demo_9pts_map(pts0);

        // Clip:
        {
                CPoint2D pivot(0, 0);
                const float radius = 0.5;

                MAP pts = pts0;
                pts.clipOutOfRange(pivot, radius);
                EXPECT_EQ(pts.size(), 1u);
        }

        // Clip:
        {
                CPoint2D pivot(-10, -10);
                const float radius = 1;

                MAP pts = pts0;
                pts.clipOutOfRange(pivot, radius);
                EXPECT_EQ(pts.size(), 0u);
        }

        // Clip:
        {
                CPoint2D pivot(0, 0);
                const float radius = 1.1f;

                MAP pts = pts0;
                pts.clipOutOfRange(pivot, radius);
                EXPECT_EQ(pts.size(), 3u);
        }
}

TEST(CSimplePointsMapTests, insertPoints)
{
        do_test_insertPoints<CSimplePointsMap>();
}

TEST(CWeightedPointsMapTests, insertPoints)
{
        do_test_insertPoints<CWeightedPointsMap>();
}

TEST(CColouredPointsMapTests, insertPoints)
{
        do_test_insertPoints<CColouredPointsMap>();
}

TEST(CSimplePointsMapTests, clipOutOfRangeInZ)
{
        do_test_clipOutOfRangeInZ<CSimplePointsMap>();
}

TEST(CWeightedPointsMapTests, clipOutOfRangeInZ)
{
        do_test_clipOutOfRangeInZ<CWeightedPointsMap>();
}

TEST(CColouredPointsMapTests, clipOutOfRangeInZ)
{
        do_test_clipOutOfRangeInZ<CColouredPointsMap>();
}

TEST(CSimplePointsMapTests, clipOutOfRange)
{
        do_test_clipOutOfRange<CSimplePointsMap>();
}

TEST(CWeightedPointsMapTests, clipOutOfRange)
{
        do_test_clipOutOfRange<CWeightedPointsMap>();
}

TEST(CColouredPointsMapTests, clipOutOfRange)
{
        do_test_clipOutOfRange<CColouredPointsMap>();
}