test_voxel_grid.cpp

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/* Author: Mrinal Kalakrishnan, Ken Anderson */
 
#include <gtest/gtest.h>
 
#include <moveit/distance_field/voxel_grid.h>
#include <rclcpp/rclcpp.hpp>
 
using namespace distance_field;
 
TEST(TestVoxelGrid, TestReadWrite)
{
  int i;
  int def = -100;
  VoxelGrid<int> vg(0.02, 0.02, 0.02, 0.01, 0, 0, 0, def);
 
  int num_x = vg.getNumCells(DIM_X);
  int num_y = vg.getNumCells(DIM_Y);
  int num_z = vg.getNumCells(DIM_Z);
 
  // Check dimensions
  EXPECT_EQ(num_x, 2);
  EXPECT_EQ(num_y, 2);
  EXPECT_EQ(num_z, 2);
 
  // check initial values
  vg.reset(0);
 
  i = 0;
  for (int x = 0; x < num_x; ++x)
  {
    for (int y = 0; y < num_y; ++y)
    {
      for (int z = 0; z < num_z; ++z)
      {
        EXPECT_EQ(vg.getCell(x, y, z), 0);
        i++;
      }
    }
  }
 
  // Check out-of-bounds query    // FIXME-- this test fails!!
  // EXPECT_EQ( vg.getCell(999,9999,999), def );
  // EXPECT_EQ( vg.getCell(numX+1,0,0), def);
  // EXPECT_EQ( vg.getCell(0,numY+1,0), def);
  // EXPECT_EQ( vg.getCell(0,0,numZ+1), def);
 
  // Set values
  i = 0;
  for (int x = 0; x < num_x; ++x)
  {
    for (int y = 0; y < num_y; ++y)
    {
      for (int z = 0; z < num_z; ++z)
      {
        vg.getCell(x, y, z) = i;
        i++;
      }
    }
  }
 
  // check reset values
  i = 0;
  for (int x = 0; x < num_x; ++x)
  {
    for (int y = 0; y < num_y; ++y)
    {
      for (int z = 0; z < num_z; ++z)
      {
        EXPECT_EQ(i, vg.getCell(x, y, z));
        i++;
      }
    }
  }
}
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}