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FrankE
2016-01-21 11:10:55 +01:00
parent 8818a9b216
commit a7dc0cabbb
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14
tests/Tests.h Executable file
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#ifndef TESTS_H
#define TESTS_H
#ifdef WITH_TESTS
#include <gtest/gtest.h>
static inline std::string getDataFile(const std::string& name) {
return "/mnt/firma/kunden/indoor/tests/data/" + name;
}
#endif
#endif // TESTS_H

402
tests/data/test.svg Executable file
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27
tests/floorplan/TestFloorplanFactorySVG.cpp Executable file
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#ifdef WITH_TESTS
//#include "../Tests.h"
//#include "../../floorplan/FloorplanFactorySVG.h"
//#include <cstdlib>
//TEST(FloorplanFactorySVG, parse) {
// const std::string filename = getDataFile("test.svg");
// FloorplanFactorySVG factory(filename, 1.0);
// Floor f1 = factory.getFloor("1");
// ASSERT_EQ(30, f1.getObstacles().size());
// Floor f2 = factory.getFloor("2");
// ASSERT_EQ(30, f2.getObstacles().size());
// Floor f3 = factory.getFloor("1_2");
// ASSERT_EQ(12, f3.getObstacles().size());
//}
#endif

21
tests/geo/TestAngle.cpp Executable file
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../geo/Angle.h"
TEST(Angle, calc) {
ASSERT_EQ(0, Angle::getDEG(0,0, +1,0)); // to the right
ASSERT_EQ(90, Angle::getDEG(0,0, 0,+1)); // upwards
ASSERT_EQ(180, Angle::getDEG(0,0, -1,0)); // to the left
ASSERT_EQ(270, Angle::getDEG(0,0, 0,-1)); // downwards
ASSERT_EQ(45, Angle::getDEG(0,0, +1,+1)); // to the upper right
ASSERT_EQ(135, Angle::getDEG(0,0, -1,+1)); // to the upper left
ASSERT_EQ(225, Angle::getDEG(0,0, -1,-1)); // to the lower left
ASSERT_EQ(315, Angle::getDEG(0,0, +1,-1)); // to the lower right
}
#endif

47
tests/grid/TestBBox.cpp Executable file
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../grid/GridNodeBBox.h"
TEST(BBox, equals) {
GridNodeBBox bb1(GridPoint(2,2,2), 2);
GridNodeBBox bb2(GridPoint(2,2,2), 2);
GridNodeBBox bb3(GridPoint(3,2,2), 2);
GridNodeBBox bb4(GridPoint(2,3,2), 2);
GridNodeBBox bb5(GridPoint(2,2,3), 2);
GridNodeBBox bb6(GridPoint(2,2,2), 4);
ASSERT_TRUE(bb1 == bb2);
ASSERT_TRUE(bb1 == bb5); // z doesnt matter for the bbox
ASSERT_FALSE(bb1 == bb3);
ASSERT_FALSE(bb1 == bb4);
ASSERT_FALSE(bb1 == bb6);
}
TEST(BBox, intersect) {
GridNodeBBox bb1(GridPoint(20,20,20), 20);
// left
ASSERT_FALSE(bb1.intersects( Line2D(9, -999, 9, +999) ));
ASSERT_TRUE (bb1.intersects( Line2D(11, -999, 11, +999) ));
// right
ASSERT_TRUE (bb1.intersects( Line2D(29, -999, 29, +999) ));
ASSERT_FALSE(bb1.intersects( Line2D(31, -999, 31, +999) ));
// top
ASSERT_FALSE(bb1.intersects( Line2D(-999, 9, +999, 9) ));
ASSERT_TRUE (bb1.intersects( Line2D(-999, 11, +999, 11) ));
// bottom
ASSERT_TRUE (bb1.intersects( Line2D(-999, 29, +999, 29) ));
ASSERT_FALSE(bb1.intersects( Line2D(-999, 31, +999, 31) ));
}
#endif

112
tests/grid/TestGrid.cpp Executable file
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../grid/Grid.h"
#include "../../grid/GridPoint.h"
#include "../../grid/GridNode.h"
class GP : public GridNode, public GridPoint {
public:
GP() : GridNode(), GridPoint() {;}
GP(int x, int y, int z) : GridNode(), GridPoint(x,y,z) {;}
};
TEST(Grid, add) {
Grid<20, GP> grid;
ASSERT_EQ(0, grid.add(GP()));
ASSERT_EQ(1, grid.add(GP()));
ASSERT_EQ(2, grid.add(GP()));
ASSERT_EQ(3, grid.add(GP()));
// not aligned? -> error
ASSERT_THROW(grid.add(GP(10,10,10)), std::exception);
ASSERT_THROW(grid.add(GP(10,20,20)), std::exception);
ASSERT_THROW(grid.add(GP(20,10,20)), std::exception);
ASSERT_THROW(grid.add(GP(20,20,10)), std::exception);
ASSERT_EQ(4, grid.add(GP(20,20,20)));
// access
ASSERT_EQ(GP(20,20,20), grid[4]);
}
TEST(Grid, BBox) {
Grid<20, GP> grid;
int idx = grid.add(GP(40,40,40));
ASSERT_EQ(30, grid.getBBox(idx).x1_cm);
ASSERT_EQ(50, grid.getBBox(idx).x2_cm);
ASSERT_EQ(30, grid.getBBox(idx).y1_cm);
ASSERT_EQ(50, grid.getBBox(idx).y2_cm);
}
TEST(Grid, neighbors) {
Grid<1, GP> grid;
int idx1 = grid.add(GP( 0, 0, 0));
int idx2 = grid.add(GP( 0, 1, 0));
int idx3 = grid.add(GP( 0,-1, 0));
int idx4 = grid.add(GP( 1, 0, 0));
int idx5 = grid.add(GP(-1, 0, 0));
grid.connect(idx1, idx2);
grid.connect(idx1, idx3);
grid.connect(idx1, idx4);
grid.connect(idx1, idx5);
ASSERT_EQ(4, grid.getNumNeighbors(idx1));
ASSERT_EQ(1, grid.getNumNeighbors(idx2));
ASSERT_EQ(1, grid.getNumNeighbors(idx3));
ASSERT_EQ(1, grid.getNumNeighbors(idx4));
ASSERT_EQ(1, grid.getNumNeighbors(idx5));
}
TEST(Grid, uid) {
Grid<20, GP> grid;
GP gp(20,40,60);
uint64_t uid = grid.getUID(gp);
const int mask = (1 << 20) - 1; // 20-bit mask
ASSERT_EQ(3, uid >> 40 & mask); // x
ASSERT_EQ(2, uid >> 20 & mask); // y
ASSERT_EQ(1, uid >> 0 & mask); // z
}
TEST(Grid, nearest) {
Grid<20, GP> grid;
GP c1(20,20,20);
GP c2(40,40,40);
grid.add(c1);
grid.add(c2);
ASSERT_EQ(c1, grid.getNodeFor(GP(15,20,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,15,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,20,15)));
ASSERT_EQ(c1, grid.getNodeFor(GP(25,20,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,25,20)));
ASSERT_EQ(c1, grid.getNodeFor(GP(20,20,25)));
ASSERT_EQ(c2, grid.getNodeFor(GP(35,40,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,35,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,40,35)));
ASSERT_EQ(c2, grid.getNodeFor(GP(45,40,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,45,40)));
ASSERT_EQ(c2, grid.getNodeFor(GP(40,40,45)));
}
#endif

45
tests/grid/TestGridFactory.cpp Executable file
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../grid/factory/GridFactory.h"
#include "../../floorplan/FloorplanFactorySVG.h"
#include <KLib/misc/gnuplot/Gnuplot.h>
#include <KLib/misc/gnuplot/GnuplotSplot.h>
#include <KLib/misc/gnuplot/GnuplotSplotElementPoints.h>
class GP : public GridNode, public GridPoint {
public:
GP() : GridNode(), GridPoint() {;}
GP(int x, int y, int z) : GridNode(), GridPoint(x,y,z) {;}
};
TEST(GridFactory, create) {
Grid<20, GP> g;
GridFactory<20, GP> gf(g);
FloorplanFactorySVG fpf(getDataFile("test.svg"), 2);
Floor f1 = fpf.getFloor("1");
gf.addFloor(f1, 0);
K::Gnuplot gp;
K::GnuplotSplot splot;
K::GnuplotSplotElementPoints points;
for (int i = 0; i < g.getNumNodes(); ++i) {
const GP& node = g[i];
points.add(K::GnuplotPoint3(node.x_cm, node.y_cm, node.z_cm));
}
splot.add(&points);
gp.draw(splot);
gp.flush();
sleep(10);
}
#endif

20
tests/grid/TestGridPoint.cpp Executable file
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../grid/GridPoint.h"
TEST(GridPoint, distance) {
GridPoint p1(0,0,0);
GridPoint p2(100,0,0);
GridPoint p3(0,100,0);
GridPoint p4(0,0,100);
ASSERT_EQ(1, p1.getDistanceInMeter(p2));
ASSERT_EQ(1, p1.getDistanceInMeter(p3));
ASSERT_EQ(1, p1.getDistanceInMeter(p4));
}
#endif