test_pose.cpp File Reference

#include <gtest/gtest.h>
#include <traffic_simulator/utils/pose.hpp>
#include "../helper_functions.hpp"

Include dependency graph for test_pose.cpp:

Classes
class	PoseTest

Functions
int	main (int argc, char **argv)
	TEST (pose, quietNaNPose)
	TEST (pose, quietNaNLaneletPose)
	TEST_F (PoseTest, canonicalize_default)
	TEST_F (PoseTest, canonicalize_invalid)
	TEST_F (PoseTest, canonicalize_valid)
	TEST_F (PoseTest, toMapPose_CanonicalizedLaneletPose)
	TEST_F (PoseTest, toMapPose_LaneletPose)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_valid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_noBoundingBox_noRoute_invalid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_valid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_BoundingBox_noRoute_invalid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyInvalid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_emptyValid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyInvalid)
	TEST_F (PoseTest, toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyValid)
	TEST (pose, transformRelativePoseToGlobal)
	TEST (pose, relativePose_poses_zero)
	TEST (pose, relativePose_poses_zeros)
	TEST (pose, relativePose_poses_complex)
	TEST_F (PoseTest, relativePose_canonicalized_end_position)
	TEST_F (PoseTest, relativePose_canonicalized_start_position)
	TEST_F (PoseTest, boundingBoxRelativePose_disjoint)
	TEST_F (PoseTest, boundingBoxRelativePose_commonEdge)
	TEST_F (PoseTest, boundingBoxRelativePose_intersect)
	TEST_F (PoseTest, relativeLaneletPose_s_invalid)
	TEST_F (PoseTest, relativeLaneletPose_s_valid)
	TEST_F (PoseTest, relativeLaneletPose_offset_invalid)
	TEST_F (PoseTest, relativeLaneletPose_offset_valid)
	TEST_F (PoseTest, boundingBoxRelativeLaneletPose_s_invalid)
	TEST_F (PoseTest, boundingBoxRelativeLaneletPose_s_valid)
	TEST_F (PoseTest, boundingBoxRelativeLaneletPose_offset_invalid)
	TEST_F (PoseTest, boundingBoxRelativeLaneletPose_offset_valid)
	TEST_F (PoseTest, isInLanelet_inside)
	TEST_F (PoseTest, isInLanelet_outsideFrontFar)
	TEST_F (PoseTest, isInLanelet_outsideFrontClose)
	TEST_F (PoseTest, isInLanelet_outsideBackFar)
	TEST_F (PoseTest, isInLanelet_outsideBackClose)
	TEST_F (PoseTest, isAtEndOfLanelets_noFollowing_within)
	TEST_F (PoseTest, isAtEndOfLanelets_singleFollowing_within)
	TEST_F (PoseTest, isAtEndOfLanelets_singleFollowing_outside)
	TEST_F (PoseTest, isAtEndOfLanelets_multipleFollowing_within)
	TEST_F (PoseTest, isAtEndOfLanelets_multipleFollowing_outside)
	TEST_F (PoseTest, laneletLength_invalid)
	TEST_F (PoseTest, laneletLength_valid)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

TEST() [1/6]

TEST	(	pose	,
		quietNaNLaneletPose
	)

Note

Test created object values.

TEST() [2/6]

TEST	(	pose	,
		quietNaNPose
	)

Note

Test created object values.

TEST() [3/6]

TEST	(	pose	,
		relativePose_poses_complex
	)

Note

Test calculation correctness with a non trivial example.

TEST() [4/6]

TEST	(	pose	,
		relativePose_poses_zero
	)

Note

Test calculation correctness when only one pose is zeroed, the goal is to obtain a pose equal to the second argument.

TEST() [5/6]

TEST	(	pose	,
		relativePose_poses_zeros
	)

Note

Test calculation correctness when both poses are zeroed.

TEST() [6/6]

TEST	(	pose	,
		transformRelativePoseToGlobal
	)

Note

Test calculation correctness with a non trivial example.

TEST_F() [1/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativeLaneletPose_offset_invalid
	)

Note

Test offset-value calculation correctness when lateral distance between the poses can not be calculated.

TEST_F() [2/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativeLaneletPose_offset_valid
	)

Note

Test offset-value calculation correctness when lateral distance between the poses can be calculated.

TEST_F() [3/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativeLaneletPose_s_invalid
	)

Note

Test s-value calculation correctness when longitudinal distance between the poses can not be calculated.

TEST_F() [4/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativeLaneletPose_s_valid
	)

Note

Test s-value calculation correctness when longitudinal distance between the poses can be calculated.

TEST_F() [5/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativePose_commonEdge
	)

Note

Test calculation correctness when bounding boxes share an edge.

TEST_F() [6/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativePose_disjoint
	)

Note

Test calculation correctness when bounding boxes are disjoint.

TEST_F() [7/38]

TEST_F	(	PoseTest	,
		boundingBoxRelativePose_intersect
	)

Note

Test calculation correctness when bounding boxes intersect.

TEST_F() [8/38]

TEST_F	(	PoseTest	,
		canonicalize_default
	)

Note

Test canonicalization with a default constructed LaneletPose.

TEST_F() [9/38]

TEST_F	(	PoseTest	,
		canonicalize_invalid
	)

Note

Test canonicalization with an invalid LaneletPose.

TEST_F() [10/38]

TEST_F	(	PoseTest	,
		canonicalize_valid
	)

Note

Test canonicalization with a valid constructed LaneletPose.

TEST_F() [11/38]

TEST_F	(	PoseTest	,
		isAtEndOfLanelets_multipleFollowing_outside
	)

Note

Test calculation correctness when there are multiple following lanelets and the pose lies after the end of the lanelet.

TEST_F() [12/38]

TEST_F	(	PoseTest	,
		isAtEndOfLanelets_multipleFollowing_within
	)

Note

Test calculation correctness when there are multiple following lanelets and the pose lies within the lanelet.

TEST_F() [13/38]

TEST_F	(	PoseTest	,
		isAtEndOfLanelets_noFollowing_within
	)

Note

Test calculation correctness when there are no following lanelets and the pose lies within the lanelet.

TEST_F() [14/38]

TEST_F	(	PoseTest	,
		isAtEndOfLanelets_singleFollowing_outside
	)

Note

Test calculation correctness when there is a single following lanelet and the pose lies after the end of the lanelet.

TEST_F() [15/38]

TEST_F	(	PoseTest	,
		isAtEndOfLanelets_singleFollowing_within
	)

Note

Test calculation correctness when there is a single following lanelet and the pose lies within the lanelet.

TEST_F() [16/38]

TEST_F	(	PoseTest	,
		isInLanelet_inside
	)

Note

Test calculation correctness when the pose lies within the lanelet.

TEST_F() [17/38]

TEST_F	(	PoseTest	,
		isInLanelet_outsideBackClose
	)

Note

Test calculation correctness when the pose lies outside the back of the lanelet, distance smaller than the tolerance.

TEST_F() [18/38]

TEST_F	(	PoseTest	,
		isInLanelet_outsideBackFar
	)

Note

Test calculation correctness when the pose lies outside the back of the lanelet, distance greater than the tolerance.

TEST_F() [19/38]

TEST_F	(	PoseTest	,
		isInLanelet_outsideFrontClose
	)

Note

Test calculation correctness when the pose lies outside the front of the lanelet, distance smaller than the tolerance.

TEST_F() [20/38]

TEST_F	(	PoseTest	,
		isInLanelet_outsideFrontFar
	)

Note

Test calculation correctness when the pose lies outside the front of the lanelet, distance greater than the tolerance.

TEST_F() [21/38]

TEST_F	(	PoseTest	,
		laneletLength_invalid
	)

Note

Test function behavior when non existent lanelet::Id has been passed.

TEST_F() [22/38]

TEST_F	(	PoseTest	,
		laneletLength_valid
	)

Note

Test calculation correctness when a correct lanelet::Id has been passed.

TEST_F() [23/38]

TEST_F	(	PoseTest	,
		relativeLaneletPose_offset_invalid
	)

Note

Test offset-value calculation correctness when lateral distance between the poses can not be calculated.

TEST_F() [24/38]

TEST_F	(	PoseTest	,
		relativeLaneletPose_offset_valid
	)

Note

Test offset-value calculation correctness when lateral distance between the poses can be calculated.

TEST_F() [25/38]

TEST_F	(	PoseTest	,
		relativeLaneletPose_s_invalid
	)

Note

Test s-value calculation correctness when longitudinal distance between the poses can not be calculated.

TEST_F() [26/38]

TEST_F	(	PoseTest	,
		relativeLaneletPose_s_valid
	)

Note

Test s-value calculation correctness when longitudinal distance between the poses can be calculated.

TEST_F() [27/38]

TEST_F	(	PoseTest	,
		relativePose_canonicalized_end_position
	)

Note

Test calculation correctness with the overload.

TEST_F() [28/38]

TEST_F	(	PoseTest	,
		relativePose_canonicalized_start_position
	)

Note

Test calculation correctness with the overload.

TEST_F() [29/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_BoundingBox_noRoute_invalid
	)

Note

Test function behavior with a pose that can not be canonicalized, matching distance too large.

TEST_F() [30/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_BoundingBox_noRoute_valid
	)

Note

Test function behavior with a pose that can be canonicalized.

TEST_F() [31/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_BoundingBox_route_emptyInvalid
	)

Note

Test function behavior with an empty unique_route_lanelets vector and a pose that can not be canonicalized.

TEST_F() [32/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_BoundingBox_route_emptyValid
	)

Note

Test function behavior with an empty unique_route_lanelets vector and a pose that can be canonicalized.

TEST_F() [33/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyInvalid
	)

Note

Test function behavior with a non empty unique_route_lanelets vector and a pose that can not be canonicalized.

TEST_F() [34/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_BoundingBox_route_nonEmptyValid
	)

Note

Test function behavior with a non empty unique_route_lanelets vector and a pose that can be canonicalized.

TEST_F() [35/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_noBoundingBox_noRoute_invalid
	)

Note

Test function behavior with a pose that can not be canonicalized.

TEST_F() [36/38]

TEST_F	(	PoseTest	,
		toCanonicalizedLaneletPose_noBoundingBox_noRoute_valid
	)

Note

Test function behavior with a pose that can be canonicalized.

TEST_F() [37/38]

TEST_F	(	PoseTest	,
		toMapPose_CanonicalizedLaneletPose
	)

Note

Test conversion to geometry_msgs::msg::Pose from CanonicalizedLaneletPose.

TEST_F() [38/38]

TEST_F	(	PoseTest	,
		toMapPose_LaneletPose
	)

Note

Test conversion to geometry_msgs::msg::Pose from LaneletPose with HdMapUtils pointer.