diff --git a/test/AutoExpandbleMap/AutoExpandble_map_utest.cpp b/test/AutoExpandbleMap/AutoExpandble_map_utest.cpp
index 6bcecc5..86849fc 100644
--- a/test/AutoExpandbleMap/AutoExpandble_map_utest.cpp
+++ b/test/AutoExpandbleMap/AutoExpandble_map_utest.cpp
@@ -2,46 +2,49 @@
 
 #include "Map_test.h"
 
-bool is_succeed(const DiscretePoint2D& Cell_coor, MapParams expected_param) {
+bool test_expansion_by_cell_update(const DiscretePoint2D& Cell_coor, MapParams expected_param) {
   GridMap map(std::shared_ptr<GridCellFactory>(new TinyBaseCellFactory), {1,1,1});
-  MapParams param = test_auto_expand(Cell_coor, map);
+
+  map.update_cell(Cell_coor, {0.5, 0.5});
+  MapParams param(map.height(), map.width(), map.map_center_x(), map.map_center_y());
+ 
   return param == expected_param;
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Right) {
-  EXPECT_TRUE(is_succeed({2,0}, {1,4,0,0}));
+  EXPECT_TRUE(test_expansion_by_cell_update({2,0}, {1,4,0,0}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Top) {
-  EXPECT_TRUE(is_succeed({0,2}, {4,1,0,0}));
+  EXPECT_TRUE(test_expansion_by_cell_update({0,2}, {4,1,0,0}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Left) {
-  EXPECT_TRUE(is_succeed({-2,0}, {1,4,3,0}));
+  EXPECT_TRUE(test_expansion_by_cell_update({-2,0}, {1,4,3,0}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Down) {
-  EXPECT_TRUE(is_succeed({0,-2}, {4,1,0,3}));
+  EXPECT_TRUE(test_expansion_by_cell_update({0,-2}, {4,1,0,3}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Right_Top) {
-  EXPECT_TRUE(is_succeed({2,2}, {4,4,0,0}));
+  EXPECT_TRUE(test_expansion_by_cell_update({2,2}, {4,4,0,0}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Right_Down) {
-  EXPECT_TRUE(is_succeed({2,-2}, {4,4,0,3}));
+  EXPECT_TRUE(test_expansion_by_cell_update({2,-2}, {4,4,0,3}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Left_Top) {
-  EXPECT_TRUE(is_succeed({-2,2}, {4,4,3,0}));
+  EXPECT_TRUE(test_expansion_by_cell_update({-2,2}, {4,4,3,0}));
 }
 
 TEST(AutoExpandbleMapBaseTests, Expand_Left_Down) {
-  EXPECT_TRUE(is_succeed({-2,-2}, {4,4,3,3}));
+  EXPECT_TRUE(test_expansion_by_cell_update({-2,-2}, {4,4,3,3}));
 }
 
 TEST(AutoExpandbleMapBaseTests, NoExpand) {
-  EXPECT_TRUE(is_succeed({0,0}, {1,1,0,0}));
+  EXPECT_TRUE(test_expansion_by_cell_update({0,0}, {1,1,0,0}));
 }
 
 TEST(AutoExpandbleMapBaseTests, CheckCellsValue) {
diff --git a/test/AutoExpandbleMap/Map_test.h b/test/AutoExpandbleMap/Map_test.h
index c5b5215..db446da 100644
--- a/test/AutoExpandbleMap/Map_test.h
+++ b/test/AutoExpandbleMap/Map_test.h
@@ -7,8 +7,8 @@
 class MapParams {
 public:
   MapParams (int height = 0, int width = 0, int map_center_x = 0, int map_center_y = 0) :
-             _height(height), _width(width), _map_center_x(map_center_x),
-                                             _map_center_y(map_center_y) {} 
+             _height(height), _width(width), 
+             _map_center_x(map_center_x), _map_center_y(map_center_y) {} 
 
   friend bool operator==(const MapParams &left, const MapParams &right);
 
@@ -19,29 +19,17 @@ class MapParams {
 };
 
 bool operator==(const MapParams &left, const MapParams &right) {
-  return (left._height == right._height)&&(left._map_center_x == right._map_center_x)
-       &&(left._width  == right._width) &&(left._map_center_y == right._map_center_y);
-}
-
-MapParams test_auto_expand(const DiscretePoint2D& Cell_coor, GridMap map) {
-  MapParams param;  
-
-  map.update_cell(Cell_coor, {0.5, 0.5});
-  param._height = map.height();
-  param._width  = map.width();
-  param._map_center_x = map.map_center_x();
-  param._map_center_y = map.map_center_y();
-
-  return param;
+  return (left._height == right._height) && (left._map_center_x == right._map_center_x)
+       &&(left._width  == right._width)  && (left._map_center_y == right._map_center_y);
 }
 
 bool test_CellValueNotChange(GridMap map) {
-  bool is_centershifting_x = (map.map_center_x() == 0),
-       is_centershifting_y = (map.map_center_y() == 0);
+  bool is_center_x_shifted = (map.map_center_x() == 0),
+       is_center_y_shifted = (map.map_center_y() == 0);
 
-  int x0 = is_centershifting_x ? 0 :
+  int x0 = is_center_x_shifted ? 0 :
            (map.map_center_x() - 1  - map.width());
-  int y0 = is_centershifting_y ? 0 :
+  int y0 = is_center_y_shifted ? 0 :
            (map.map_center_y() - 1 - map.height());
   int i = 0, j = 0;