+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <cmath>
#include "wvtest.h"
-#include "pslot.h"
+#include "pslot.hh"
+
+using namespace bcar;
WVTEST_MAIN("pslot basic geometry")
{
- ParkingSlot ps = ParkingSlot();
- ps.set_slot(0.5, 1.5, M_PI/4, sqrt(2), sqrt(8));
-
- // slot info
- WVPASSEQ_DOUBLE(ps.x1(), 1, 0.00001);
- WVPASSEQ_DOUBLE(ps.y1(), 1, 0.00001);
- WVPASSEQ_DOUBLE(ps.x2(), 3, 0.00001);
- WVPASSEQ_DOUBLE(ps.y2(), 3, 0.00001);
- WVPASSEQ_DOUBLE(ps.x3(), 2, 0.00001);
- WVPASSEQ_DOUBLE(ps.y3(), 4, 0.00001);
- WVPASSEQ_DOUBLE(ps.x4(), 0, 0.00001);
- WVPASSEQ_DOUBLE(ps.y4(), 2, 0.00001);
- WVPASS(ps.right());
- WVPASS(!ps.parallel());
- WVPASSEQ_DOUBLE(ps.heading(), M_PI * 3 / 4, 0.00001);
- ps.reverse_border();
- WVPASSEQ_DOUBLE(ps.x1(), 0, 0.00001);
- WVPASSEQ_DOUBLE(ps.y1(), 2, 0.00001);
- WVPASSEQ_DOUBLE(ps.x2(), 2, 0.00001);
- WVPASSEQ_DOUBLE(ps.y2(), 4, 0.00001);
- WVPASSEQ_DOUBLE(ps.x3(), 3, 0.00001);
- WVPASSEQ_DOUBLE(ps.y3(), 3, 0.00001);
- WVPASSEQ_DOUBLE(ps.x4(), 1, 0.00001);
- WVPASSEQ_DOUBLE(ps.y4(), 1, 0.00001);
- WVPASS(!ps.right());
- WVPASS(!ps.parallel());
- WVPASSEQ_DOUBLE(ps.heading(), -M_PI / 4, 0.00001);
+ ParkingSlot ps(Point(1.0, 1.0), 3.0 * M_PI / 4.0, sqrt(8.0), sqrt(2.0));
+ WVPASSEQ_DOUBLE(ps.lrx(), 1.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lry(), 1.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rrx(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rry(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfx(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfy(), 4.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfx(), 0.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfy(), 2.0, 0.00001);
+ WVPASS(ps.right());
+ WVPASS(!ps.parallel());
+ WVPASSEQ_DOUBLE(ps.h(), M_PI * 3.0 / 4.0, 0.00001);
+ Point p(ps.lfx(), ps.lfy());
+ ps = ParkingSlot(p, 7.0 * M_PI / 4.0, sqrt(8.0), sqrt(2.0));
+ ps.swap_side();
+ WVPASSEQ_DOUBLE(ps.lrx(), 0.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lry(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rrx(), 2.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rry(), 4.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfx(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.rfy(), 3.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfx(), 1.0, 0.00001);
+ WVPASSEQ_DOUBLE(ps.lfy(), 1.0, 0.00001);
+ WVPASS(!ps.right());
+ WVPASS(!ps.parallel());
+ WVPASSEQ_DOUBLE(ps.h(), -M_PI / 4.0, 0.00001);
}