68 lines
2.1 KiB
C++
68 lines
2.1 KiB
C++
/*
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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/map_limits.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping_2d {
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namespace {
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TEST(MapLimitsTest, ToProto) {
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const MapLimits limits(42., Eigen::Vector2d(3., 0.), CellLimits(2, 3));
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const auto proto = ToProto(limits);
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EXPECT_EQ(limits.resolution(), proto.resolution());
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EXPECT_EQ(limits.max().x(), proto.max().x());
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EXPECT_EQ(limits.max().y(), proto.max().y());
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EXPECT_EQ(ToProto(limits.cell_limits()).DebugString(),
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proto.cell_limits().DebugString());
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}
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TEST(MapLimitsTest, ProtoConstructor) {
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proto::MapLimits limits;
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limits.set_resolution(1.);
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limits.mutable_max()->set_x(2.);
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limits.mutable_max()->set_y(3.);
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limits.mutable_cell_limits()->set_num_x_cells(4);
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limits.mutable_cell_limits()->set_num_y_cells(5);
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const MapLimits native(limits);
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EXPECT_EQ(limits.resolution(), native.resolution());
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EXPECT_EQ(limits.max().x(), native.max().x());
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EXPECT_EQ(limits.max().y(), native.max().y());
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EXPECT_EQ(limits.cell_limits().DebugString(),
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ToProto(native.cell_limits()).DebugString());
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}
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TEST(MapLimitsTest, ConstructAndGet) {
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const MapLimits limits(42., Eigen::Vector2d(3., 0.), CellLimits(2, 3));
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const CellLimits& cell_limits = limits.cell_limits();
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EXPECT_EQ(2, cell_limits.num_x_cells);
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EXPECT_EQ(3, cell_limits.num_y_cells);
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const Eigen::Vector2d& max = limits.max();
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EXPECT_EQ(3., max.x());
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EXPECT_EQ(0., max.y());
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EXPECT_EQ(42., limits.resolution());
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}
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} // namespace
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} // namespace mapping_2d
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} // namespace cartographer
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