test_distance.cpp File Reference

#include <gtest/gtest.h>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <geometry/bounding_box.hpp>
#include <geometry/quaternion/euler_to_quaternion.hpp>
#include <numeric>
#include <traffic_simulator/helper/helper.hpp>
#include <traffic_simulator/utils/distance.hpp>
#include <traffic_simulator/utils/lanelet_map.hpp>
#include <traffic_simulator/utils/pose.hpp>
#include <traffic_simulator_msgs/msg/lanelet_pose.hpp>
#include "../helper_functions.hpp"

Include dependency graph for test_distance.cpp:

Classes
class	distanceTest_FourTrackHighwayMap
class	distanceTest_StandardMap
class	distanceTest_IntersectionMap

Functions
int	main (int argc, char **argv)
	TEST_F (distanceTest_FourTrackHighwayMap, lateralDistance_impossible_noChange)
	TEST_F (distanceTest_FourTrackHighwayMap, lateralDistance_possible_noChange)
	TEST_F (distanceTest_FourTrackHighwayMap, lateralDistance_impossible_change)
	TEST_F (distanceTest_FourTrackHighwayMap, lateralDistance_possible_change)
	TEST_F (distanceTest_FourTrackHighwayMap, lateralDistance_impossible_matching)
	TEST_F (distanceTest_FourTrackHighwayMap, lateralDistance_possible_matching)
	TEST_F (distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOpposite_noChange_false)
	TEST_F (distanceTest_StandardMap, longitudinalDistance_noAdjacent_noOpposite_noChange)
	TEST_F (distanceTest_FourTrackHighwayMap, longitudinalDistance_adjacent_noOpposite_noChange_false)
	TEST_F (distanceTest_FourTrackHighwayMap, longitudinalDistance_adjacent_noOpposite_noChange)
	TEST_F (distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOpposite_change_false)
	TEST_F (distanceTest_FourTrackHighwayMap, longitudinalDistance_noAdjacent_noOpposite_change_case0)
	TEST_F (distanceTest_IntersectionMap, longitudinalDistance_noAdjacent_noOpposite_change_case1)
	TEST_F (distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_change_false)
	TEST_F (distanceTest_IntersectionMap, longitudinalDistance_adjacent_noOpposite_change)
	TEST (distance, boundingBoxDistance_intersection)
	TEST (distance, boundingBoxDistance_disjoint)
	TEST_F (distanceTest_StandardMap, distanceToLeftLaneBound_single)
	TEST_F (distanceTest_StandardMap, distanceToLeftLaneBound_multipleVector)
	TEST_F (distanceTest_StandardMap, distanceToLeftLaneBound_singleVector)
	TEST_F (distanceTest_StandardMap, distanceToLeftLaneBound_emptyVector)
	TEST_F (distanceTest_IntersectionMap, distanceToRightLaneBound_single)
	TEST_F (distanceTest_IntersectionMap, distanceToRightLaneBound_multipleVector)
	TEST_F (distanceTest_IntersectionMap, distanceToRightLaneBound_singleVector)
	TEST_F (distanceTest_IntersectionMap, distanceToRightLaneBound_emptyVector)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

TEST() [1/2]

TEST	(	distance	,
		boundingBoxDistance_disjoint
	)

Note

Test equality with math::geometry::getPolygonDistance function result on disjoint bounding boxes.

TEST() [2/2]

TEST	(	distance	,
		boundingBoxDistance_intersection
	)

Note

Test equality with math::geometry::getPolygonDistance function result on intersecting bounding boxes.

TEST_F() [1/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		lateralDistance_impossible_change
	)

Note

Test if the function correctly uses getLateralDistance. Test with a scenario in which it is impossible to calculate the distance, e.g. not connected lanelets and with allow_lane_change = true.

TEST_F() [2/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		lateralDistance_impossible_matching
	)

Note

Test if the function correctly uses getLateralDistance. Test with a scenario in which it is possible to calculate the distance, but matching_distance is too small.

TEST_F() [3/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		lateralDistance_impossible_noChange
	)

Note

Test if the function correctly uses getLateralDistance. Test with a scenario in which it is impossible to calculate the distance, e.g. not connected lanelets and with allow_lane_change = false.

TEST_F() [4/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		lateralDistance_possible_change
	)

Note

Test if the function correctly uses getLateralDistance. Test with a scenario in which it is possible to calculate the distance and with allow_lane_change = true.

TEST_F() [5/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		lateralDistance_possible_matching
	)

Note

Test if the function correctly uses getLateralDistance. Test with a scenario in which it is possible to calculate the distance and matching_distance is large.

TEST_F() [6/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		lateralDistance_possible_noChange
	)

Note

Test if the function correctly uses getLateralDistance. Test with a scenario in which it is possible to calculate the distance and with allow_lane_change = false.

TEST_F() [7/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		longitudinalDistance_adjacent_noOpposite_noChange
	)

Note

Test calculation correctness with include_adjacent_lanelet = true, include_opposite_direction = false, allow_lane_change = false in a scenario that meets those criteria.

TEST_F() [8/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		longitudinalDistance_adjacent_noOpposite_noChange_false
	)

Note

Test calculation correctness with include_adjacent_lanelet = true, include_opposite_direction = false, allow_lane_change = false in an impossible scenario, e.g. no path.

TEST_F() [9/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		longitudinalDistance_noAdjacent_noOpposite_change_case0
	)

Note

Test calculation correctness with include_adjacent_lanelet = false, include_opposite_direction = false, allow_lane_change = true in a scenario that meets those criteria.

TEST_F() [10/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		longitudinalDistance_noAdjacent_noOpposite_change_false
	)

Note

Test calculation correctness with include_adjacent_lanelet = false, include_opposite_direction = false, allow_lane_change = true in an impossible scenario, e.g. no path.

TEST_F() [11/23]

TEST_F	(	distanceTest_FourTrackHighwayMap	,
		longitudinalDistance_noAdjacent_noOpposite_noChange_false
	)

Note

Test calculation correctness with include_adjacent_lanelet = false, include_opposite_direction = false, allow_lane_change = false in an impossible scenario, e.g. no path.

TEST_F() [12/23]

TEST_F	(	distanceTest_IntersectionMap	,
		distanceToRightLaneBound_emptyVector
	)

Note

Test function behavior with an empty vector.

TEST_F() [13/23]

TEST_F	(	distanceTest_IntersectionMap	,
		distanceToRightLaneBound_multipleVector
	)

Note

Test calculation correctness with a vector containing multiple lanelets. Test equality with the minimum of distanceToRightLaneBound results (lanelet::Id overload).

TEST_F() [14/23]

TEST_F	(	distanceTest_IntersectionMap	,
		distanceToRightLaneBound_single
	)

Note

Test calculation correctness with lanelet::Id.

TEST_F() [15/23]

TEST_F	(	distanceTest_IntersectionMap	,
		distanceToRightLaneBound_singleVector
	)

Note

Test calculation correctness with a vector containing a single lanelet. Test equality with the distanceToRightLaneBound result (lanelet::Id overload).

TEST_F() [16/23]

TEST_F	(	distanceTest_IntersectionMap	,
		longitudinalDistance_adjacent_noOpposite_change
	)

Note

Test calculation correctness with include_adjacent_lanelet = true, include_opposite_direction = false, allow_lane_change = true in a scenario that meets those criteria.

TEST_F() [17/23]

TEST_F	(	distanceTest_IntersectionMap	,
		longitudinalDistance_adjacent_noOpposite_change_false
	)

Note

Test calculation correctness with include_adjacent_lanelet = true, include_opposite_direction = false, allow_lane_change = true in an impossible scenario, e.g. no path.

TEST_F() [18/23]

TEST_F	(	distanceTest_IntersectionMap	,
		longitudinalDistance_noAdjacent_noOpposite_change_case1
	)

Note

Test for the corner case described in https://github.com/tier4/scenario_simulator_v2/issues/1364

TEST_F() [19/23]

TEST_F	(	distanceTest_StandardMap	,
		distanceToLeftLaneBound_emptyVector
	)

Note

Test function behavior with an empty vector.

TEST_F() [20/23]

TEST_F	(	distanceTest_StandardMap	,
		distanceToLeftLaneBound_multipleVector
	)

Note

Test calculation correctness with a vector containing multiple lanelets. Test equality with the minimum of distanceToLeftLaneBound results (lanelet::Id overload).

TEST_F() [21/23]

TEST_F	(	distanceTest_StandardMap	,
		distanceToLeftLaneBound_single
	)

Note

Test calculation correctness with lanelet::Id.

TEST_F() [22/23]

TEST_F	(	distanceTest_StandardMap	,
		distanceToLeftLaneBound_singleVector
	)

Note

Test calculation correctness with a vector containing a single lanelet. Test equality with the distanceToLeftLaneBound results (lanelet::Id overload).

TEST_F() [23/23]

TEST_F	(	distanceTest_StandardMap	,
		longitudinalDistance_noAdjacent_noOpposite_noChange
	)

Note

Test calculation correctness with include_adjacent_lanelet = false, include_opposite_direction = false, allow_lane_change = false in a scenario that meets those criteria.