Function TEST

grid_map_core/test/GridMapMathTest.cpp:26–51

using namespace grid_map;

TEST(PositionFromIndex, Simple)
{
  Length mapLength(3.0, 2.0);
  Position mapPosition(-1.0, 2.0);
  double resolution = 1.0;
  Size bufferSize(3, 2);
  Position position;

  EXPECT_TRUE(getPositionFromIndex(position, Index(0, 0), mapLength, mapPosition, resolution, bufferSize));
  EXPECT_DOUBLE_EQ(1.0 + mapPosition.x(), position.x());
  EXPECT_DOUBLE_EQ(0.5 + mapPosition.y(), position.y());

  EXPECT_TRUE(getPositionFromIndex(position, Index(1, 0), mapLength, mapPosition, resolution, bufferSize));
  EXPECT_DOUBLE_EQ(0.0 + mapPosition.x(), position.x());
  EXPECT_DOUBLE_EQ(0.5 + mapPosition.y(), position.y());

  EXPECT_TRUE(getPositionFromIndex(position, Index(1, 1), mapLength, mapPosition, resolution, bufferSize));
  EXPECT_DOUBLE_EQ(0.0 + mapPosition.x(), position.x());
  EXPECT_DOUBLE_EQ(-0.5 + mapPosition.y(), position.y());

  EXPECT_TRUE(getPositionFromIndex(position, Index(2, 1), mapLength, mapPosition, resolution, bufferSize));
  EXPECT_DOUBLE_EQ(-1.0 + mapPosition.x(), position.x());
  EXPECT_DOUBLE_EQ(-0.5 + mapPosition.y(), position.y());

  EXPECT_FALSE(getPositionFromIndex(position, Index(3, 1), mapLength, mapPosition, resolution, bufferSize));
}

TEST(PositionFromIndex, CircularBuffer)
{