66 lines
2.2 KiB
C++
66 lines
2.2 KiB
C++
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/**
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* @file testSimWall2D2D
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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/SimWall2D.h>
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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(testSimWall2D2D, construction ) {
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Point2 a(1.0, 0.0), b(1.0, 2.0);
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SimWall2D wall1(a, b), wall2(a.x(), a.y(), b.x(), b.y());
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EXPECT(assert_equal(a, wall1.a(), tol));
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EXPECT(assert_equal(a, wall2.a(), tol));
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EXPECT(assert_equal(b, wall1.b(), tol));
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EXPECT(assert_equal(b, wall2.b(), tol));
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}
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/* ************************************************************************* */
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TEST(testSimWall2D2D, equals ) {
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Point2 p1(1.0, 0.0), p2(1.0, 2.0), p3;
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SimWall2D w1(p1, p2), w2(p1, p3);
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EXPECT(assert_equal(w1, w1));
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EXPECT(assert_inequal(w1, w2));
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EXPECT(assert_inequal(w2, w1));
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}
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/* ************************************************************************* */
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TEST(testSimWall2D2D, intersection1 ) {
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SimWall2D w1(2.0, 2.0, 6.0, 2.0), w2(4.0, 4.0, 4.0, 0.0);
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Point2 pt;
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EXPECT(w1.intersects(w2));
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EXPECT(w2.intersects(w1));
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w1.intersects(w2, pt);
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EXPECT(assert_equal(Point2(4.0, 2.0), pt, tol));
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}
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/* ************************************************************************* */
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TEST(testSimWall2D2D, intersection2 ) {
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SimWall2D traj(7.07107, 7.07107, 0, 0);
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SimWall2D wall(1.5, 3, 1.5, 1);
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EXPECT(wall.intersects(traj));
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EXPECT(traj.intersects(wall));
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}
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/* ************************************************************************* */
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TEST(testSimWall2D2D, reflection1 ) {
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SimWall2D wall1(1.0, 1.0, 7.0, 1.0), wall2(7.0, 1.0, 1.0, 1.0);
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Point2 init(2.0, 3.0), intersection(4.0, 1.0);
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Rot2 actual1 = wall1.reflection(init, intersection);
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Rot2 actual2 = wall2.reflection(init, intersection);
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Rot2 expected = Rot2::fromDegrees(45);
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EXPECT(assert_equal(expected, actual1, tol));
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EXPECT(assert_equal(expected, actual2, tol));
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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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