Fixed geom tests (#163)

robotics-laboratory · Jun 2, 2024 · fae4b95 · fae4b95
1 parent 9c9d70d
commit fae4b95
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Showing 4 changed files with 35 additions and 32 deletions.
diff --git a/packages/geom/test/CMakeLists.txt b/packages/geom/test/CMakeLists.txt
@@ -3,12 +3,14 @@ ament_add_gtest(
   angle_tests.cpp
   angle_vector_tests.cpp
   arc_tests.cpp
+  bounding_box_tests.cpp
   distance_tests.cpp
   line_tests.cpp
   main.cpp
   polygon_tests.cpp
   ray_tests.cpp
   segment_tests.cpp
+  uniform_stepper_tests.cpp
   vector_tests.cpp
   vector3_tests.cpp
 )

diff --git a/packages/geom/test/bounding_box_tests.cpp b/packages/geom/test/bounding_box_tests.cpp
@@ -35,7 +35,7 @@ TEST(BoundingBox, constructor) {
     ASSERT_GEOM_EQUAL(bb3.max.y, 24., eps);
 }
 
-TEST(Vector3, extend) {
+TEST(BoundingBox, extend) {
     // Arrange.
     auto bb1 = BoundingBox({1, 3});
     auto bb2 = BoundingBox({1, 3});
@@ -69,36 +69,13 @@ TEST(Vector3, extend) {
     ASSERT_GEOM_EQUAL(bb2.max.x, 7., eps);
     ASSERT_GEOM_EQUAL(bb2.max.y, 4., eps);
 
-    ASSERT_GEOM_EQUAL(bb3.min.x, 3., eps);
-    ASSERT_GEOM_EQUAL(bb3.min.y, -5., eps);
-    ASSERT_GEOM_EQUAL(bb3.max.x, 10., eps);
-    ASSERT_GEOM_EQUAL(bb3.max.y, 2., eps);
+    ASSERT_GEOM_EQUAL(bb3.min.x, -5., eps);
+    ASSERT_GEOM_EQUAL(bb3.min.y, 2., eps);
+    ASSERT_GEOM_EQUAL(bb3.max.x, 3., eps);
+    ASSERT_GEOM_EQUAL(bb3.max.y, 10., eps);
 
-    ASSERT_GEOM_EQUAL(bb4.min.x, 3., eps);
-    ASSERT_GEOM_EQUAL(bb4.min.y, -5., eps);
-    ASSERT_GEOM_EQUAL(bb4.max.x, 10., eps);
-    ASSERT_GEOM_EQUAL(bb4.max.y, 2., eps);
-}
-
-TEST(BoundingBox, makeBoundingBox) {
-    // Arrange.
-    const auto p1 = Polygon{{0, 0}, {0, 1}, {1, 0}};
-    const auto p2 = Polygon{{-1, -7}, {-2, 8}, {14, 6}, {5, -1}};
-
-    // Act.
-    const auto bb1 = makeBoundingBox(p1);
-    const auto bb2 = makeBoundingBox(p2);
-
-    // Assert.
-    constexpr double eps = 1e-9;
-
-    ASSERT_GEOM_EQUAL(bb1.min.x, 0., eps);
-    ASSERT_GEOM_EQUAL(bb1.min.y, 0., eps);
-    ASSERT_GEOM_EQUAL(bb1.max.x, 1., eps);
-    ASSERT_GEOM_EQUAL(bb1.max.y, 1., eps);
-
-    ASSERT_GEOM_EQUAL(bb2.min.x, -2., eps);
-    ASSERT_GEOM_EQUAL(bb2.min.y, -7., eps);
-    ASSERT_GEOM_EQUAL(bb2.max.x, 14., eps);
-    ASSERT_GEOM_EQUAL(bb2.max.y, 5., eps);
+    ASSERT_GEOM_EQUAL(bb4.min.x, -5., eps);
+    ASSERT_GEOM_EQUAL(bb4.min.y, 2., eps);
+    ASSERT_GEOM_EQUAL(bb4.max.x, 3., eps);
+    ASSERT_GEOM_EQUAL(bb4.max.y, 10., eps);
 }
diff --git a/packages/geom/test/polygon_tests.cpp b/packages/geom/test/polygon_tests.cpp
@@ -113,3 +113,26 @@ TEST(Polygon, intersect) {
         ASSERT_EQ(intersect(poly, seg), true);
     }
 }
+
+TEST(Polygon, makeBoundingBox) {
+    // Arrange.
+    const auto p1 = Polygon{{0, 0}, {0, 1}, {1, 0}};
+    const auto p2 = Polygon{{-1, -7}, {-2, 8}, {14, 6}, {5, -1}};
+
+    // Act.
+    const auto bb1 = makeBoundingBox(p1);
+    const auto bb2 = makeBoundingBox(p2);
+
+    // Assert.
+    constexpr double eps = 1e-9;
+
+    ASSERT_GEOM_EQUAL(bb1.min.x, 0., eps);
+    ASSERT_GEOM_EQUAL(bb1.min.y, 0., eps);
+    ASSERT_GEOM_EQUAL(bb1.max.x, 1., eps);
+    ASSERT_GEOM_EQUAL(bb1.max.y, 1., eps);
+
+    ASSERT_GEOM_EQUAL(bb2.min.x, -2., eps);
+    ASSERT_GEOM_EQUAL(bb2.min.y, -7., eps);
+    ASSERT_GEOM_EQUAL(bb2.max.x, 14., eps);
+    ASSERT_GEOM_EQUAL(bb2.max.y, 8., eps);
+}
diff --git a/packages/geom/test/uniform_stepper_tests.cpp b/packages/geom/test/uniform_stepper_tests.cpp
@@ -1,6 +1,7 @@
 #include <gtest/gtest.h>
 
 #include "geom/test/equal_assert.h"
+#include "geom/polygon.h"
 #include "geom/polyline.h"
 #include "geom/uniform_stepper.h"