void do_test_insertCheckMapBounds()
{
	mrpt::maps::CHeightGridMap2D_Base::TPointInsertParams pt_params;
	pt_params.update_map_after_insertion = false;

	MAP dem; //mrpt::maps::CHeightGridMap2D dem;
	dem.setSize(-4.0,4.0, 0.0, 4.0,  1.0); // x:[-10,10] * y:[0,5]
	// Inside:
	EXPECT_TRUE( dem.insertIndividualPoint(2.0, 3.0,   56.0, pt_params ) );
	EXPECT_TRUE( dem.insertIndividualPoint(-3.0, 0.4,  56.0, pt_params ) );
	EXPECT_TRUE( dem.insertIndividualPoint( 3.0, 3.8,  56.0, pt_params ) );
	// Outside:
	EXPECT_FALSE(dem.insertIndividualPoint( -11.0, 2.0,  56.0, pt_params ) );
	EXPECT_FALSE(dem.insertIndividualPoint(  11.0, 2.0,  56.0, pt_params ) );
	EXPECT_FALSE(dem.insertIndividualPoint(  2.0, -1.0,  56.0, pt_params ) );
	EXPECT_FALSE(dem.insertIndividualPoint(  2.0,  6.0,  56.0, pt_params ) );
}
Example #2
0
void do_test_insertPointsAndRead()
{
	MAP dem;
	dem.setSize(0.0, 5.0, 0.0, 5.0, 0.5);  // x:[-10,10] * y:[0,5]
	// Inside:
	const double x = 2.1, y = 3.1, z_write = 56.0;
	dem.insertIndividualPoint(x, y, z_write);
	double z_read;
	bool res = dem.dem_get_z(x, y, z_read);
	EXPECT_TRUE(res);
	EXPECT_NEAR(z_read, z_write, 1e-6);
}