139 lines
5.3 KiB
C++
139 lines
5.3 KiB
C++
/**
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* @file testSimPolygon
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* @author Alex Cunningham
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*/
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#include <CppUnitLite/TestHarness.h>
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#include <gtsam/base/TestableAssertions.h>
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#include <gtsam_unstable/geometry/SimPolygon2D.h>
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using namespace std;
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using namespace gtsam;
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const double tol=1e-5;
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/* ************************************************************************* */
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TEST(testPolygon, triangle_basic) {
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// create a triangle from points, extract landmarks/walls, check occupancy
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Point2 pA, pB(2.0, 0.0), pC(0.0, 1.0);
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// construct and extract data
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SimPolygon2D actTriangle = SimPolygon2D::createTriangle(pA, pB, pC);
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LONGS_EQUAL(3, actTriangle.size());
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EXPECT(assert_equal(pA, actTriangle.landmark(0)));
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EXPECT(assert_equal(pB, actTriangle.landmark(1)));
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EXPECT(assert_equal(pC, actTriangle.landmark(2)));
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// get walls out
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vector<SimWall2D> actWalls = actTriangle.walls();
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vector<SimWall2D> expWalls;
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expWalls.push_back(SimWall2D(pA, pB));
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expWalls.push_back(SimWall2D(pB, pC));
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expWalls.push_back(SimWall2D(pC, pA));
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EXPECT(assert_container_equal(expWalls, actWalls, tol));
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// check occupancy - used in sampling more points
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// treat as closed polygon - points along edges also count
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EXPECT(actTriangle.contains(Point2(0.25, 0.5)));
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EXPECT(actTriangle.contains(pA));
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EXPECT(actTriangle.contains(pB));
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EXPECT(actTriangle.contains(pC));
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EXPECT(actTriangle.contains(Point2(1.0, 0.0)));
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EXPECT(!actTriangle.contains(Point2(1.0, 1.0)));
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EXPECT(!actTriangle.contains(Point2(-1.0, 1.0)));
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}
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/* ************************************************************************* */
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TEST(testPolygon, rectangle_basic) {
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// creates an axis-aligned rectangle given a lower left corner and a height and width
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double height = 3.0, width = 2.0;
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Point2 pA(1.0, 0.0), pB(3.0, 0.0), pC(3.0, 3.0), pD(1.0, 3.0);
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// construct and extract data
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SimPolygon2D actRectangle = SimPolygon2D::createRectangle(pA, height, width);
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LONGS_EQUAL(4, actRectangle.size());
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EXPECT(assert_equal(pA, actRectangle.landmark(0)));
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EXPECT(assert_equal(pB, actRectangle.landmark(1)));
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EXPECT(assert_equal(pC, actRectangle.landmark(2)));
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EXPECT(assert_equal(pD, actRectangle.landmark(3)));
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// get walls out
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vector<SimWall2D> actWalls = actRectangle.walls();
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vector<SimWall2D> expWalls;
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expWalls.push_back(SimWall2D(pA, pB));
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expWalls.push_back(SimWall2D(pB, pC));
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expWalls.push_back(SimWall2D(pC, pD));
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expWalls.push_back(SimWall2D(pD, pA));
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EXPECT(assert_container_equal(expWalls, actWalls, tol));
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// check occupancy - used in sampling more points
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// treat as closed polygon - points along edges also count
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EXPECT(actRectangle.contains(Point2(2.0, 1.0)));
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EXPECT(actRectangle.contains(pA));
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EXPECT(actRectangle.contains(pB));
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EXPECT(actRectangle.contains(pC));
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EXPECT(actRectangle.contains(pD));
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EXPECT(actRectangle.contains(Point2(1.0, 0.0)));
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EXPECT(!actRectangle.contains(Point2(0.9, 0.5)));
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EXPECT(!actRectangle.contains(Point2(-1.0, 1.0)));
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}
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/* ************************************************************************* */
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TEST(testPolygon, triangle_generator) {
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// generate random triangles in a bounded region with no overlap
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double side_len = 10.0; // box of length 10, centered on origin
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double mean_side_len = 2.0; // mean length of sides
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double sigma_side_len = 0.5; // stddev for length of sides
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double min_vertex_dist = 0.4; // minimum allowable distance between vertices
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double min_side_len = 0.1;
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// initialize the random number generator for consistency
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SimPolygon2D::seedGenerator(42u);
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vector<SimPolygon2D> existing_polys;
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SimPolygon2D actual = SimPolygon2D::randomTriangle(side_len, mean_side_len, sigma_side_len,
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min_vertex_dist, min_side_len, existing_polys);
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// use a rectangle to check that it is within boundaries
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SimPolygon2D bounding_rect = SimPolygon2D::createRectangle(Point2(-5.0,-5.0), side_len, side_len);
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EXPECT(bounding_rect.contains(actual.landmark(0)));
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EXPECT(bounding_rect.contains(actual.landmark(1)));
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EXPECT(bounding_rect.contains(actual.landmark(2)));
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}
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/* ************************************************************************* */
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TEST(testPolygon, rectangle_generator) {
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// generate random rectangles in a bounded region with no overlap
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double side_len = 10.0; // box of length 10, centered on origin
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double mean_side_len = 2.0; // mean length of sides
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double sigma_side_len = 0.5; // stddev for length of sides
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double min_vertex_dist = 0.4; // minimum allowable distance between vertices
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double min_side_len = 0.1;
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// initialize the random number generator for consistency
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SimPolygon2D::seedGenerator(42u);
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vector<SimPolygon2D> existing_polys;
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SimPolygon2D actual = SimPolygon2D::randomRectangle(side_len, mean_side_len, sigma_side_len,
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min_vertex_dist, min_side_len, existing_polys);
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// use a rectangle to check that it is within boundaries
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SimPolygon2D bounding_rect = SimPolygon2D::createRectangle(Point2(-5.0,-5.0), side_len, side_len);
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EXPECT(bounding_rect.contains(actual.landmark(0)));
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EXPECT(bounding_rect.contains(actual.landmark(1)));
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EXPECT(bounding_rect.contains(actual.landmark(2)));
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EXPECT(bounding_rect.contains(actual.landmark(3)));
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}
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/* ************************************************************************* */
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int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
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/* ************************************************************************* */
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