test_hermite_curve.cpp File Reference

#include <gtest/gtest.h>
#include <geometry/spline/hermite_curve.hpp>
#include "../expect_eq_macros.hpp"
#include "../test_utils.hpp"

Include dependency graph for test_hermite_curve.cpp:

Functions
math::geometry::HermiteCurve	makeLine1 ()
	Helper function generating straight line: p(0,0) v(1,0)-> p(1,0) v(1,0) More...
math::geometry::HermiteCurve	makeLine2 ()
	Helper function generating straight line: p(0,0) v(1,1)-> p(2,2) v(1,1) More...
math::geometry::HermiteCurve	makeCurve1 (bool concave_upward=true)
	Helper function generating curve: p(0,0) v(1,0)-> p(1,1) v(0,1) More...
math::geometry::HermiteCurve	makeCurve2 ()
	Helper function generating curve: p(0,0) v(1,0)-> p(1,-1) v(0,-1) More...
math::geometry::HermiteCurve	makeCurve3 ()
	Helper function generating curve: p(1,1) v(0,-1)-> p(0,0) v(-1,0) More...
math::geometry::HermiteCurve	makeCurve4 ()
	Helper function generating curve: p(1,-1) v(0,1)-> p(0,0) v(-1,0) More...
void	generateReferenceTrajectory (double start_x, double start_y, double increment_x, double increment_y, std::vector< geometry_msgs::msg::Point > &vec, unsigned int start_idx=0u)
	Helper function generating a reference trajectory for testing. More...
	TEST (HermiteCurveTest, initializationLine)
	TEST (HermiteCurveTest, initializationCurve)
	TEST (HermiteCurveTest, initializationParams)
	TEST (HermiteCurveTest, getTrajectoryZero)
	TEST (HermiteCurveTest, getTrajectory)
	TEST (HermiteCurveTest, getTrajectoryReversed)
	TEST (HermiteCurveTest, getTrajectoryPast1)
	TEST (HermiteCurveTest, getTrajectoryPast2)
	TEST (HermiteCurveTest, getPointLine)
	TEST (HermiteCurveTest, getPointCurve)
	TEST (HermiteCurveTest, get2DCurvatureLine)
	TEST (HermiteCurveTest, get2DCurvatureCurve)
	TEST (HermiteCurveTest, getMaximum2DCurvatureLine)
	TEST (HermiteCurveTest, getMaximum2DCurvatureCurve)
	TEST (HermiteCurveTest, getLengthNoParameter)
	TEST (HermiteCurveTest, getLengthParameter)
	TEST (HermiteCurveTest, getSValue)
	TEST (HermiteCurveTest, getSValueDenormalized)
	TEST (HermiteCurveTest, getSquaredDistanceIn2D)
	TEST (HermiteCurveTest, getSquaredDistanceIn2DZeroDistance)
	TEST (HermiteCurveTest, getSquaredDistanceVector)
	TEST (HermiteCurveTest, getSquaredDistanceVectorZeroDistance)
	TEST (HermiteCurveTest, getCollisionPointIn2DLine)
	TEST (HermiteCurveTest, getCollisionPointIn2DLineNoCollision)
	TEST (HermiteCurveTest, getCollisionPointIn2DCurve)
	TEST (HermiteCurveTest, getCollisionPointIn2DCurveEdge)
	TEST (HermiteCurveTest, getCollisionPointIn2DVectorWrongCases)
	TEST (HermiteCurveTest, getCollisionPointIn2DVectorOneCollision)
	TEST (HermiteCurveTest, getCollisionPointIn2DVectorMultipleCollisions)
	TEST (HermiteCurveTest, getTangentVector1)
	TEST (HermiteCurveTest, getTangentVector2)
	TEST (HermiteCurveTest, getTangentVector3)
	TEST (HermiteCurveTest, getTangentVector4)
	TEST (HermiteCurveTest, getTangentVectorDenormalized1)
	TEST (HermiteCurveTest, getTangentVectorDenormalized2)
	TEST (HermiteCurveTest, getTangentVectorDenormalized3)
	TEST (HermiteCurveTest, getTangentVectorDenormalized4)
	TEST (HermiteCurveTest, getNormalVector1)
	TEST (HermiteCurveTest, getNormalVector2)
	TEST (HermiteCurveTest, getNormalVector3)
	TEST (HermiteCurveTest, getNormalVector4)
	TEST (HermiteCurveTest, getNormalVectorDenormalized1)
	TEST (HermiteCurveTest, getNormalVectorDenormalized2)
	TEST (HermiteCurveTest, getNormalVectorDenormalized3)
	TEST (HermiteCurveTest, getNormalVectorDenormalized4)
int	main (int argc, char **argv)

Variables
constexpr double	EPS = 1e-3

Function Documentation

generateReferenceTrajectory()

void generateReferenceTrajectory	(	double	start_x,
		double	start_y,
		double	increment_x,
		double	increment_y,
		std::vector< geometry_msgs::msg::Point > &	vec,
		unsigned int	start_idx = 0u
	)

Helper function generating a reference trajectory for testing.

Parameters

start_x	starting X position
start_y	starting Y position
increment_x	increment over X axis on every step
increment_y	increment over Y axis on every step
vec	vector container to generate a reference trajectory in (has to be the size of desired trajectory)
start_idx	index from which to start

main()

int main	(	int	argc,
		char **	argv
	)

makeCurve1()

math::geometry::HermiteCurve makeCurve1

(

bool

concave_upward = true

)

Helper function generating curve: p(0,0) v(1,0)-> p(1,1) v(0,1)

makeCurve2()

math::geometry::HermiteCurve makeCurve2

(

)

Helper function generating curve: p(0,0) v(1,0)-> p(1,-1) v(0,-1)

makeCurve3()

math::geometry::HermiteCurve makeCurve3

(

)

Helper function generating curve: p(1,1) v(0,-1)-> p(0,0) v(-1,0)

makeCurve4()

math::geometry::HermiteCurve makeCurve4

(

)

Helper function generating curve: p(1,-1) v(0,1)-> p(0,0) v(-1,0)

makeLine1()

math::geometry::HermiteCurve makeLine1

(

)

Helper function generating straight line: p(0,0) v(1,0)-> p(1,0) v(1,0)

makeLine2()

math::geometry::HermiteCurve makeLine2

(

)

Helper function generating straight line: p(0,0) v(1,1)-> p(2,2) v(1,1)

TEST() [1/45]

TEST	(	HermiteCurveTest	,
		get2DCurvatureCurve
	)

TEST() [2/45]

TEST	(	HermiteCurveTest	,
		get2DCurvatureLine
	)

TEST() [3/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DCurve
	)

TEST() [4/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DCurveEdge
	)

TEST() [5/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DLine
	)

TEST() [6/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DLineNoCollision
	)

TEST() [7/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DVectorMultipleCollisions
	)

TEST() [8/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DVectorOneCollision
	)

TEST() [9/45]

TEST	(	HermiteCurveTest	,
		getCollisionPointIn2DVectorWrongCases
	)

TEST() [10/45]

TEST	(	HermiteCurveTest	,
		getLengthNoParameter
	)

TEST() [11/45]

TEST	(	HermiteCurveTest	,
		getLengthParameter
	)

TEST() [12/45]

TEST	(	HermiteCurveTest	,
		getMaximum2DCurvatureCurve
	)

TEST() [13/45]

TEST	(	HermiteCurveTest	,
		getMaximum2DCurvatureLine
	)

TEST() [14/45]

TEST	(	HermiteCurveTest	,
		getNormalVector1
	)

TEST() [15/45]

TEST	(	HermiteCurveTest	,
		getNormalVector2
	)

TEST() [16/45]

TEST	(	HermiteCurveTest	,
		getNormalVector3
	)

TEST() [17/45]

TEST	(	HermiteCurveTest	,
		getNormalVector4
	)

TEST() [18/45]

TEST	(	HermiteCurveTest	,
		getNormalVectorDenormalized1
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [19/45]

TEST	(	HermiteCurveTest	,
		getNormalVectorDenormalized2
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [20/45]

TEST	(	HermiteCurveTest	,
		getNormalVectorDenormalized3
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [21/45]

TEST	(	HermiteCurveTest	,
		getNormalVectorDenormalized4
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [22/45]

TEST	(	HermiteCurveTest	,
		getPointCurve
	)

TEST() [23/45]

TEST	(	HermiteCurveTest	,
		getPointLine
	)

TEST() [24/45]

TEST	(	HermiteCurveTest	,
		getSquaredDistanceIn2D
	)

TEST() [25/45]

TEST	(	HermiteCurveTest	,
		getSquaredDistanceIn2DZeroDistance
	)

TEST() [26/45]

TEST	(	HermiteCurveTest	,
		getSquaredDistanceVector
	)

TEST() [27/45]

TEST	(	HermiteCurveTest	,
		getSquaredDistanceVectorZeroDistance
	)

TEST() [28/45]

TEST	(	HermiteCurveTest	,
		getSValue
	)

TEST() [29/45]

TEST	(	HermiteCurveTest	,
		getSValueDenormalized
	)

Note

Test function correctness with parameter denormalize_s = true.

TEST() [30/45]

TEST	(	HermiteCurveTest	,
		getTangentVector1
	)

TEST() [31/45]

TEST	(	HermiteCurveTest	,
		getTangentVector2
	)

TEST() [32/45]

TEST	(	HermiteCurveTest	,
		getTangentVector3
	)

TEST() [33/45]

TEST	(	HermiteCurveTest	,
		getTangentVector4
	)

TEST() [34/45]

TEST	(	HermiteCurveTest	,
		getTangentVectorDenormalized1
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [35/45]

TEST	(	HermiteCurveTest	,
		getTangentVectorDenormalized2
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [36/45]

TEST	(	HermiteCurveTest	,
		getTangentVectorDenormalized3
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [37/45]

TEST	(	HermiteCurveTest	,
		getTangentVectorDenormalized4
	)

Note

Test function correctness with parameter denormalize_s = true with different curves.

TEST() [38/45]

TEST	(	HermiteCurveTest	,
		getTrajectory
	)

TEST() [39/45]

TEST	(	HermiteCurveTest	,
		getTrajectoryPast1
	)

TEST() [40/45]

TEST	(	HermiteCurveTest	,
		getTrajectoryPast2
	)

TEST() [41/45]

TEST	(	HermiteCurveTest	,
		getTrajectoryReversed
	)

TEST() [42/45]

TEST	(	HermiteCurveTest	,
		getTrajectoryZero
	)

TEST() [43/45]

TEST	(	HermiteCurveTest	,
		initializationCurve
	)

TEST() [44/45]

TEST	(	HermiteCurveTest	,
		initializationLine
	)

TEST() [45/45]

TEST	(	HermiteCurveTest	,
		initializationParams
	)

Variable Documentation

EPS

constexpr double EPS = 1e-3

constexpr