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>();
}