TEST(ReachabilitySphere, appendDirection)
{
ReachabilitySphere sphere;
sphere.appendDirection(0.0, 0.0, true);
sphere.appendDirection(0.0, 90.0, false);
sphere.appendDirection(0.0, 1.0, 0.0, true);
sphere.appendDirection(0.0, 0.0, 1.0, false);
ASSERT_TRUE(sphere._reachableDirections[0].x == 0.0);
ASSERT_TRUE(sphere._reachableDirections[0].y == 0.0);
ASSERT_TRUE(sphere._reachableDirections[0].z == 1.0);
ASSERT_TRUE(sphere._unreachableDirections[0].x == 1.0);
ASSERT_TRUE(sphere._unreachableDirections[0].y == 0.0);
ASSERT_TRUE(fuzzyEquals(sphere._unreachableDirections[0].z, 0.0));
ASSERT_TRUE(sphere._reachableDirections[1].x == 0.0);
ASSERT_TRUE(sphere._reachableDirections[1].y == 1.0);
ASSERT_TRUE(sphere._reachableDirections[1].z == 0.0);
ASSERT_TRUE(sphere._unreachableDirections[1].x == 0.0);
ASSERT_TRUE(sphere._unreachableDirections[1].y == 0.0);
ASSERT_TRUE(sphere._unreachableDirections[1].z == 1.0);
}
void Assert::assertEqualsEpsilon( const double& expected, const double& result, const double& epsilon,
const char* file, int linia )
{
if (isNaN(expected) && isNaN(result) ) return;
if (!isNaN(expected) && !isNaN(result) && fuzzyEquals(expected, result, epsilon) ) return;
TestsListener::theInstance().errorsLog()
<< errmsgTag_testFailedIn() << file
<< errmsgTag_inLine() << linia << "\n"
<< errmsgTag_expected()
<< bold() << expected << normal() << " "
<< errmsgTag_butWas()
<< bold() << result << normal() << "\n";
TestsListener::theInstance().testHasFailed();
}
void assertEqualsEpsilon(const double & expected, const double & result
, const double & epsilon, const char * file, int line)
{
if ( ( isNaN(expected) && isNaN(result) )
||
( !isNaN(expected) && !isNaN(result)
&& fuzzyEquals( expected, result, epsilon ) ) )
{
return;
}
std::stringstream errmsg;
errmsg.str("");
errmsg << "assertEquals(double) failed in " << file << ", line #" << line;
errmsg << " expecting '" << expected << "' got '" << result << "'";
TestsListener::testHasFailed(errmsg.str());
}
void example_test_class::test_assert_equals()
{
logMsg("ASSERT_EQUALS() macro demo");
/*
Be careful: ASSERT_EQUALS() is not available for each and every type!
You can find more details in test_asserts.h.
*/
int a=-1;
ASSERT_EQUALS(a, a);
unsigned int h=1;
ASSERT_EQUALS(h, h);
int64_t i=-10;
ASSERT_EQUALS(i, i);
uint64_t j=10;
ASSERT_EQUALS(j, j);
bool b=false;
ASSERT_EQUALS(b, b);
float c= -1.23f;
ASSERT_EQUALS(c, c);
double d=1.23;
ASSERT_EQUALS(d, d);
/*
For fuzzy comparisons e.g. 1.01 vs. 1.01 fetched from MySQL
*/
double k = 1.01;
double l = 1.0999992;
fuzzyEquals(k, l, 0.001);
long double e=1.23e12;
ASSERT_EQUALS(e, e);
const char f[]="foo";
ASSERT_EQUALS(f, f);
std::string g("good idea");
ASSERT_EQUALS(g, g);
}
TEST(ReachabilitySphere, getPrincipalComponents)
{
ReachabilitySphere sphere;
std::vector<Vector> vectors;
std::vector<Vector> components;
// a line in x direction should give the main principal component lying in x direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(1.0, 0.0, 0.0));
vectors.push_back(Vector(2.0, 0.0, 0.0));
vectors.push_back(Vector(3.0, 0.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[2].x == 1.0);
ASSERT_TRUE(components[2].y == 0.0);
ASSERT_TRUE(components[2].z == 0.0);
vectors.clear();
// a line in y direction should give the main principal component lying in y direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(0.0, 1.0, 0.0));
vectors.push_back(Vector(0.0, 2.0, 0.0));
vectors.push_back(Vector(0.0, 3.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[2].x == 0.0);
ASSERT_TRUE(components[2].y == 1.0);
ASSERT_TRUE(components[2].z == 0.0);
vectors.clear();
// a line in z direction should give the main principal component lying in z direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(0.0, 0.0, 1.0));
vectors.push_back(Vector(0.0, 0.0, 2.0));
vectors.push_back(Vector(0.0, 0.0, 3.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[2].x == 0.0);
ASSERT_TRUE(components[2].y == 0.0);
ASSERT_TRUE(components[2].z == 1.0);
vectors.clear();
// filling just x and y directions should give the least principal component in z direction
vectors.push_back(Vector(1.0, 2.0, 0.0));
vectors.push_back(Vector(2.0, 1.0, 0.0));
vectors.push_back(Vector(1.0, 0.0, 0.0));
vectors.push_back(Vector(0.0, 1.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[0].x == 0.0);
ASSERT_TRUE(components[0].y == 0.0);
ASSERT_TRUE(components[0].z == 1.0);
vectors.clear();
// filling just y and z directions should give the least principal component in x direction
vectors.push_back(Vector(0.0, 2.0, 0.0));
vectors.push_back(Vector(0.0, 1.0, 2.0));
vectors.push_back(Vector(0.0, 0.0, 1.0));
vectors.push_back(Vector(0.0, 1.0, 1.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[0].x == 1.0);
ASSERT_TRUE(components[0].y == 0.0);
ASSERT_TRUE(components[0].z == 0.0);
vectors.clear();
// filling just x and z directions should give the least principal component in y direction
vectors.push_back(Vector(1.0, 0.0, 0.0));
vectors.push_back(Vector(2.0, 0.0, 2.0));
vectors.push_back(Vector(2.0, 0.0, 1.0));
vectors.push_back(Vector(0.0, 0.0, 1.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(components[0].x == 0.0);
ASSERT_TRUE(components[0].y == 1.0);
ASSERT_TRUE(components[0].z == 0.0);
vectors.clear();
// a line in x-y direction should give the main principal component lying in x-y direction
vectors.push_back(Vector(0.0, 0.0, 0.0));
vectors.push_back(Vector(1.0, 1.0, 0.0));
vectors.push_back(Vector(2.0, 2.0, 0.0));
vectors.push_back(Vector(3.0, 3.0, 0.0));
components = sphere.getPrincipalComponents(vectors);
ASSERT_TRUE(fuzzyEquals(std::abs(components[2].x), 0.707106781));
ASSERT_TRUE(fuzzyEquals(std::abs(components[2].y), 0.707106781));
ASSERT_TRUE(components[2].z == 0.0);
// test Capability of type cone
Capability cone(CONE, 70.0, 55.0, 35.0);
sphere = createReachabilitySphereFromCapability(cone, 400);
components = sphere.getPrincipalComponents(sphere._reachableDirections);
// test phi
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI < 72.0);
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI > 68.0);
// test theta
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI < 56.0);
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI > 54.0);
// test Capability of type cylinder_1
Capability cylinder1(CYLINDER_1, 70.0, 55.0, 35.0);
sphere = createReachabilitySphereFromCapability(cylinder1, 400);
components = sphere.getPrincipalComponents(sphere._reachableDirections);
// test phi
ASSERT_TRUE(atan2(components[2].y, components[2].x) * 180.0 / M_PI < 72.0);
ASSERT_TRUE(atan2(components[2].y, components[2].x) * 180.0 / M_PI > 68.0);
// test theta
ASSERT_TRUE(acos(components[2].z) * 180.0 / M_PI < 56.0);
ASSERT_TRUE(acos(components[2].z) * 180.0 / M_PI > 54.0);
// test Capability of type cylinder_2
Capability cylinder2(CYLINDER_2, 70.0, 55.0, 35.0);
sphere = createReachabilitySphereFromCapability(cylinder2, 400);
components = sphere.getPrincipalComponents(sphere._reachableDirections);
// test phi
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI < 72.0);
ASSERT_TRUE(atan2(components[0].y, components[0].x) * 180.0 / M_PI > 68.0);
// test theta
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI < 56.0);
ASSERT_TRUE(acos(components[0].z) * 180.0 / M_PI > 54.0);
}
