Class CylinderTest

sloam/src/tests/cylinder_test.cpp:18–67

using ::testing::UnitTest;

class CylinderTest : public ::testing::Test
{
protected:
  void SetUp() override
  {
    setupParams();
    PointT pta, ptb, ptc, ptd;
    pta.x = 0; pta.y = 0; pta.z = 0;
    ptb.x = 0; ptb.y = 1; ptb.z = 0;
    ptc.x = 1; ptc.y = 0; ptc.z = 0;
    ptd.x = 1; ptd.y = 1; ptd.z = 0;
    VectorType gfeatures{pta, ptb, ptc, ptd};
    plane = boost::make_shared<Plane>(gfeatures, params);

    std::ifstream ifs("/opt/sloam_ws/src/sloam/src/tests/aux/still_landmarks_t0");
    boost::archive::text_iarchive ia(ifs);
    // read class state from archive
    ia >> landmarks;
  }

  void setupParams()
  {

    params.scansPerSweep = 1;
    params.maxLidarDist = 30.0;
    params.maxGroundLidarDist = 30.0;
    params.minGroundLidarDist = 0.0;

    params.groundRadiiBins = 1;
    params.groundThetaBins = 1;
    params.groundMatchThresh = 2.0;
    params.groundRetainThresh = 0.1;

    params.maxTreeRadius = 0.3;
    params.maxAxisTheta = 10;
    params.maxFocusOutlierDistance = 0.5;
    params.roughTreeMatchThresh = 3.0;
    params.treeMatchThresh = 1.0;

    params.AddNewTreeThreshDist = 2.0;

    params.featuresPerTree = 2;
    params.numGroundFeatures = 3;
    params.defaultTreeRadius = 0.1;
  }

  std::vector<std::vector<TreeVertex>> landmarks;
  FeatureModelParams params;
  boost::shared_ptr<Plane> plane;
};

TEST_F(CylinderTest, Initalizes)
{