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 ) );
}
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);
}