14 #include <gtest/gtest.h> 32 for (
size_t i = 0; i <
demo9_N; i++)
46 for (
size_t i = 0; i <
demo9_N; i++)
49 pts.getPoint(i,
x,
y,
z);
64 EXPECT_EQ(pts2.size(), pts3.size());
65 for (
size_t i = 0; i <
demo9_N; i++)
69 pts2.getPoint(i, x2, y2, z2);
70 pts3.getPoint(i, x3, y3, z3);
87 pts.clipOutOfRangeInZ(-10, -1);
88 EXPECT_EQ(pts.size(), 0u);
94 pts.clipOutOfRangeInZ(-10, 10);
95 EXPECT_EQ(pts.size(), 9u);
101 pts.clipOutOfRangeInZ(0.5, 1.5);
102 EXPECT_EQ(pts.size(), 3u);
115 const float radius = 0.5;
118 pts.clipOutOfRange(pivot, radius);
119 EXPECT_EQ(pts.size(), 1u);
125 const float radius = 1;
128 pts.clipOutOfRange(pivot, radius);
129 EXPECT_EQ(pts.size(), 0u);
135 const float radius = 1.1f;
138 pts.clipOutOfRange(pivot, radius);
139 EXPECT_EQ(pts.size(), 3u);
143 TEST(CSimplePointsMapTests, insertPoints)
145 do_test_insertPoints<CSimplePointsMap>();
148 TEST(CWeightedPointsMapTests, insertPoints)
150 do_test_insertPoints<CWeightedPointsMap>();
153 TEST(CColouredPointsMapTests, insertPoints)
155 do_test_insertPoints<CColouredPointsMap>();
158 TEST(CSimplePointsMapTests, clipOutOfRangeInZ)
160 do_test_clipOutOfRangeInZ<CSimplePointsMap>();
163 TEST(CWeightedPointsMapTests, clipOutOfRangeInZ)
165 do_test_clipOutOfRangeInZ<CWeightedPointsMap>();
168 TEST(CColouredPointsMapTests, clipOutOfRangeInZ)
170 do_test_clipOutOfRangeInZ<CColouredPointsMap>();
173 TEST(CSimplePointsMapTests, clipOutOfRange)
175 do_test_clipOutOfRange<CSimplePointsMap>();
178 TEST(CWeightedPointsMapTests, clipOutOfRange)
180 do_test_clipOutOfRange<CWeightedPointsMap>();
183 TEST(CColouredPointsMapTests, clipOutOfRange)
185 do_test_clipOutOfRange<CColouredPointsMap>();
const float demo9_zs[demo9_N]
void do_test_clipOutOfRange()
void do_test_clipOutOfRangeInZ()
const float demo9_xs[demo9_N]
This base provides a set of functions for maths stuff.
This namespace contains representation of robot actions and observations.
const float demo9_ys[demo9_N]
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
void load_demo_9pts_map(MAP &pts)
void do_test_insertPoints()
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
TEST(CSimplePointsMapTests, insertPoints)