69 lines
2.5 KiB
C++
Executable File
69 lines
2.5 KiB
C++
Executable File
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/value_conversion_tables.h"
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#include <random>
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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TEST(ValueConversionTablesTest, EqualTables) {
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ValueConversionTables value_conversion_tables;
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const std::vector<float>* reference_table =
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value_conversion_tables.GetConversionTable(0.1f, 0.1f, 0.5f);
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const std::vector<float>* test_table =
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value_conversion_tables.GetConversionTable(0.1f, 0.1f, 0.5f);
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EXPECT_EQ(reference_table, test_table);
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}
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TEST(ValueConversionTablesTest, InequalTables) {
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ValueConversionTables value_conversion_tables;
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const std::vector<float>* reference_table =
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value_conversion_tables.GetConversionTable(0.1f, 0.1f, 0.5f);
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const std::vector<float>* test_table =
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value_conversion_tables.GetConversionTable(0.1f, 0.4f, 0.5f);
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EXPECT_FALSE(reference_table == test_table);
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}
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TEST(ValueConversionTablesTest, ValueConversion) {
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ValueConversionTables value_conversion_tables;
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std::mt19937 rng(42);
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std::uniform_real_distribution<float> bound_distribution(-10.f, 10.f);
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for (size_t sample_index = 0; sample_index < 100; ++sample_index) {
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const float bound_sample_0 = bound_distribution(rng);
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const float bound_sample_1 = bound_distribution(rng);
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const float lower_bound = std::min(bound_sample_0, bound_sample_1);
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const float upper_bound = std::max(bound_sample_0, bound_sample_1);
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const float undefined_value = bound_distribution(rng);
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const std::vector<float>* conversion_table =
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value_conversion_tables.GetConversionTable(undefined_value, lower_bound,
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upper_bound);
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EXPECT_EQ((*conversion_table)[0], undefined_value);
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const float scale = (upper_bound - lower_bound) / 32766.f;
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for (uint16 i = 1; i < 32768; ++i) {
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EXPECT_EQ((*conversion_table)[i], i * scale + (lower_bound - scale));
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}
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}
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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