Function TEST

grid_map_core/test/SubmapIteratorTest.cpp:28–88

using namespace grid_map;

TEST(SubmapIterator, Simple) {
  Eigen::Array2i submapTopLeftIndex(3, 1);
  Eigen::Array2i submapBufferSize(3, 2);
  Eigen::Array2i index;
  Eigen::Array2i submapIndex;

  vector<string> types;
  types.push_back("type");
  GridMap map(types);
  map.setGeometry(Array2d(8.1, 5.1), 1.0, Vector2d(0.0, 0.0));  // bufferSize(8, 5)

  SubmapIterator iterator(map, submapTopLeftIndex, submapBufferSize);

  EXPECT_FALSE(iterator.isPastEnd());
  EXPECT_EQ(submapTopLeftIndex(0), (*iterator)(0));
  EXPECT_EQ(submapTopLeftIndex(1), (*iterator)(1));
  EXPECT_EQ(0, iterator.getSubmapIndex()(0));
  EXPECT_EQ(0, iterator.getSubmapIndex()(1));

  ++iterator;
  EXPECT_FALSE(iterator.isPastEnd());
  EXPECT_EQ(3, (*iterator)(0));
  EXPECT_EQ(2, (*iterator)(1));
  EXPECT_EQ(0, iterator.getSubmapIndex()(0));
  EXPECT_EQ(1, iterator.getSubmapIndex()(1));

  ++iterator;
  EXPECT_FALSE(iterator.isPastEnd());
  EXPECT_EQ(4, (*iterator)(0));
  EXPECT_EQ(1, (*iterator)(1));
  EXPECT_EQ(1, iterator.getSubmapIndex()(0));
  EXPECT_EQ(0, iterator.getSubmapIndex()(1));

  ++iterator;
  EXPECT_FALSE(iterator.isPastEnd());
  EXPECT_EQ(4, (*iterator)(0));
  EXPECT_EQ(2, (*iterator)(1));
  EXPECT_EQ(1, iterator.getSubmapIndex()(0));
  EXPECT_EQ(1, iterator.getSubmapIndex()(1));

  ++iterator;
  EXPECT_FALSE(iterator.isPastEnd());
  EXPECT_EQ(5, (*iterator)(0));
  EXPECT_EQ(1, (*iterator)(1));
  EXPECT_EQ(2, iterator.getSubmapIndex()(0));
  EXPECT_EQ(0, iterator.getSubmapIndex()(1));

  ++iterator;
  EXPECT_FALSE(iterator.isPastEnd());
  EXPECT_EQ(5, (*iterator)(0));
  EXPECT_EQ(2, (*iterator)(1));
  EXPECT_EQ(2, iterator.getSubmapIndex()(0));
  EXPECT_EQ(1, iterator.getSubmapIndex()(1));

  ++iterator;
  EXPECT_TRUE(iterator.isPastEnd());
  EXPECT_EQ(5, (*iterator)(0));
  EXPECT_EQ(2, (*iterator)(1));