Function TEST

tests/cpp/types/Path_test.cpp:16–41

#include "../test_helpers/path_planning_checker.hpp"

TEST(fields2cover_types_path, addState) {
  F2CPath path;
  path.addState(F2CPoint(1,2), 0.5*M_PI, 3, f2c::types::PathDirection::FORWARD, f2c::types::PathSectionType::TURN, 5);
  path.addState(F2CPoint(3,4), 5*M_PI, 5, f2c::types::PathDirection::BACKWARD, f2c::types::PathSectionType::SWATH, 3);

  const F2CPath const_path = path;

  auto state0 = path.getState(0);
  auto c_state0 = const_path.getState(0);
  EXPECT_EQ(state0.point, c_state0.point);
  EXPECT_EQ(state0.angle, c_state0.angle);

  EXPECT_EQ(state0.point, F2CPoint(1,2));
  EXPECT_EQ(state0.angle, 0.5*M_PI);
  EXPECT_EQ(state0.len, 3);
  EXPECT_EQ(int(state0.dir), int(f2c::types::PathDirection::FORWARD));
  EXPECT_EQ(int(state0.type), int(f2c::types::PathSectionType::TURN));
  EXPECT_EQ(state0.velocity, 5);

  auto states = path.getStates();
  auto c_states = const_path.getStates();
  EXPECT_EQ(states[0].point,   F2CPoint(1,2));
  EXPECT_EQ(c_states[0].point, F2CPoint(1,2));
  EXPECT_EQ(states[0].point,   path.atStart());
  EXPECT_EQ(c_states[0].point, const_path.atStart());
}