Function TEST

tests/cpp/utils/visualizer_test.cpp:42–105

}

TEST(fields2cover_utils_visualizer, save_Route_and_Path) {
  F2CCells cells {
    F2CCell(F2CLinearRing({
          F2CPoint(0,0), F2CPoint(2,0),F2CPoint(2,2),F2CPoint(0,2), F2CPoint(0,0)
    }))
  };
  cells.addRing(0, F2CLinearRing({
          F2CPoint(.4,.4), F2CPoint(.4,.6),F2CPoint(.6,.6),F2CPoint(.6,.4), F2CPoint(.4,.4)
  }));
  cells.addRing(0, F2CLinearRing({
          F2CPoint(1.2,1.2), F2CPoint(1.2,1.6),F2CPoint(1.6,1.6),F2CPoint(1.6,1.2), F2CPoint(1.2,1.2)
  }));
  cells *= 3e1;

  f2c::hg::ConstHL const_hl;
  F2CCells no_hl = const_hl.generateHeadlandArea(cells, 3, 3);
  auto hl_swaths = const_hl.generateHeadlandSwaths(cells, 3, 3, false);

  f2c::sg::BruteForce bf;
  F2CSwathsByCells swaths = bf.generateSwaths(M_PI/2.0, 3, no_hl);

  f2c::rp::RoutePlannerBase route_planner;
  F2CRoute route = route_planner.genRoute(hl_swaths[1], swaths);

  f2c::Visualizer::figure();
  f2c::Visualizer::plot(cells);
  f2c::Visualizer::plot(no_hl);
  f2c::Visualizer::plot(hl_swaths[1]);
  f2c::Visualizer::plot(route.asLineString());
  for (auto&& vs : route.getVectorSwaths()) {
    f2c::Visualizer::plot(vs);
  }
  for (auto&& c : route.getConnections()) {
    f2c::Visualizer::plot(c);
  }
  f2c::Visualizer::axis_equal();
  f2c::Visualizer::save("test_fig/route_by_pieces.png");
  EXPECT_TRUE(checkIfFileExists("test_fig/route_by_pieces.png"));


  f2c::Visualizer::figure();
  f2c::Visualizer::plot(cells);
  f2c::Visualizer::plot(no_hl);
  f2c::Visualizer::plot(hl_swaths[1]);
  f2c::Visualizer::plot(route);
  f2c::Visualizer::axis_equal();
  f2c::Visualizer::save("test_fig/route.png");
  EXPECT_TRUE(checkIfFileExists("test_fig/route.png"));

  F2CRobot robot;
  f2c::pp::PathPlanning path_planner;
  f2c::pp::DubinsCurves dubins;
  F2CPath path = path_planner.planPath(robot, route, dubins);

  f2c::Visualizer::figure();
  f2c::Visualizer::plot(F2CPath());
  f2c::Visualizer::plot(cells);
  f2c::Visualizer::plot(no_hl);