#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/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.

Classes

Functions