divided_map_state_test.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_DIVIDED_MAP_STATE_TEST_H_
#define DESIGNLAB_DIVIDED_MAP_STATE_TEST_H_
 
#include <vector>
 
#include "doctest.h"
 
#include "divided_map_state.h"
#include "interface_map_creator.h"
 
 
namespace divided_map_state_test_internal
{
 
using designlab::DividedMapState;
using designlab::IMapCreator;
using designlab::MapState;
using designlab::Vector3;
 
class TestMapCreator final : public IMapCreator
{
public:
    static constexpr float kMax{ 1000.f };
    static constexpr float kMin{ -kMax };
    static constexpr float kInterval{ 10.f };
 
    MapState InitMap() override
    {
        std::vector<Vector3> map_point;
 
        for (float x = kMin; x <= kMax; x += kInterval)
        {
            for (float y = kMin; y <= kMax; y += kInterval)
            {
                Vector3 point(x, y, 0);
                map_point.emplace_back(point);
            }
        }
 
        return MapState(map_point);
    }
 
    void UpdateMap([[maybe_unused]] MapState* current_map) override
    {
    }
 
private:
    static_assert(kMax > DividedMapState::kDividedMapMaxX, "テストマップのサイズが足りません．");
    static_assert(kMin < DividedMapState::kDividedMapMinX, "テストマップのサイズが足りません．");
    static_assert(kMax > DividedMapState::kDividedMapMaxY, "テストマップのサイズが足りません．");
    static_assert(kMin < DividedMapState::kDividedMapMinY, "テストマップのサイズが足りません．");
};
 
}  // namespace divided_map_state_test_internal
 
 
TEST_SUITE("DividedMapState::Init")
{
    using designlab::DividedMapState;
    using designlab::MapState;
    using designlab::Vector3;
 
    TEST_CASE("マップの状態とロボットの重心座標を渡した時，マップを重心を中心に格子状に分割するべき")
    {
        using divided_map_state_test_internal::TestMapCreator;
 
        // Act.テスト用のマップを生成する．
        TestMapCreator test_map_creator;
        MapState map_state = test_map_creator.InitMap();
 
        // Act.テスト用のロボットの重心座標を生成する．
        const Vector3 global_robot_com(0, 0, 0);
 
        // Arrange.テスト対象のクラスのメソッドを呼び出す．
        DividedMapState divided_map_state;
        divided_map_state.Init(map_state, global_robot_com);
 
        // Assert.マップのサイズが正しいか確認する．
        int center_index_x = divided_map_state.GetDividedMapIndexX(global_robot_com.x);
        int center_index_y = divided_map_state.GetDividedMapIndexX(global_robot_com.y);
 
        constexpr int expected_num = static_cast<int>(
            (DividedMapState::kDividedAreaLength / TestMapCreator::kInterval) *
            (DividedMapState::kDividedAreaLength / TestMapCreator::kInterval));
 
        CHECK_EQ(divided_map_state.GetPointNum(center_index_x, center_index_y), expected_num);
    }
}
 
TEST_SUITE("DividedMapState::ClampDividedMapIndex")
{
    using designlab::DividedMapState;
 
    TEST_CASE("0未満の値を渡した時，0を返すべき")
    {
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(-1), 0);
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(-100), 0);
 
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(0), 0);
    }
 
    TEST_CASE("最大値を渡した時，最大値 - 1を返すべき")
    {
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(DividedMapState::kDividedNum),
                 DividedMapState::kDividedNum - 1);
 
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(DividedMapState::kDividedNum + 1),
                 DividedMapState::kDividedNum - 1);
 
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(DividedMapState::kDividedNum + 100),
                 DividedMapState::kDividedNum - 1);
 
 
        CHECK_EQ(DividedMapState::ClampDividedMapIndex(DividedMapState::kDividedNum - 1),
                 DividedMapState::kDividedNum - 1);
    }
}
 
 
#endif  // DESIGNLAB_DIVIDED_MAP_STATE_TEST_H_