#include "wvtest.h"
#include "psp.h"
-
-WVTEST_MAIN("parallel parking slot planner")
-{
- PSPlanner psp;
- psp.ps().border(3, 3, 5, 3, 5, 8, 3, 8);
- psp.gc().mtr(10);
- psp.gc().wb(2);
- psp.gc().w(1);
- psp.gc().l(3);
- psp.gc().he(1.5);
- psp.gc().df(2 + 0.5);
- psp.gc().dr(0.5);
- psp.guess_gc();
- psp.cc() = BicycleCar(psp.gc());
-
- // init orientation
- WVPASS(!psp.collide());
- WVPASS(!psp.forward());
- WVPASSEQ_DOUBLE(psp.ps().heading(), psp.gc().h(), 0.00001);
- WVPASS(psp.parked());
- std::vector<std::tuple<double, double>> slot;
- slot.push_back(std::make_tuple(psp.ps().x1(), psp.ps().y1()));
- slot.push_back(std::make_tuple(psp.ps().x2(), psp.ps().y2()));
- slot.push_back(std::make_tuple(psp.ps().x3(), psp.ps().y3()));
- slot.push_back(std::make_tuple(psp.ps().x4(), psp.ps().y4()));
- WVPASS(inside(psp.gc().x(), psp.gc().y(), slot));
- WVPASS(inside(psp.gc().lfx(), psp.gc().lfy(), slot));
- WVPASS(inside(psp.gc().lrx(), psp.gc().lry(), slot));
- WVPASS(inside(psp.gc().rrx(), psp.gc().rry(), slot));
- WVPASS(inside(psp.gc().rfx(), psp.gc().rfy(), slot));
-
- // init collide
- PSPlanner tpsp;
- tpsp.ps().border(2, 3, 4, 3, 4, 8, 2, 8);
- tpsp.gc() = BicycleCar(psp.gc());
- tpsp.cc() = BicycleCar(tpsp.gc());
- WVPASS(tpsp.collide());
- WVPASS(!tpsp.left());
- tpsp.ps().border(3, 4.1, 3, 2.1, 8, 2.1, 8, 4.1);
- WVPASS(tpsp.left());
-
- // entry point found by reverse
- WVPASS(!psp.left());
- psp.fer();
- WVPASS(psp.left());
- WVPASS(psp.parked());
-
- // find entry
- psp.cc() = BicycleCar(psp.gc());
- WVPASS(!psp.left());
- psp.fe();
- WVPASS(psp.left());
- WVPASS(psp.parked());
-}
-
-WVTEST_MAIN("backward perpendicullar parking slot planner")
-{
- PSPlanner psp;
- psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
- psp.gc().mtr(10);
- psp.gc().wb(2);
- psp.gc().w(1);
- psp.gc().l(3);
- psp.gc().he(1.5);
- psp.gc().df(2 + 0.5);
- psp.gc().dr(0.5);
- psp.guess_gc();
- psp.cc() = BicycleCar(psp.gc());
-
- // init orientation
- WVPASS(!psp.collide());
- WVPASS(!psp.forward());
- WVPASSEQ_DOUBLE(psp.ps().heading() + M_PI / 2, psp.gc().h(), 0.00001);
- WVPASS(psp.parked());
-
- // entry point found by reverse
- WVPASS(!psp.left());
- psp.fer();
- WVPASS(psp.left());
- WVPASS(psp.parked());
-
- // find entry
- psp.cc() = BicycleCar(psp.gc());
- WVPASS(!psp.left());
- psp.fe();
- WVPASS(psp.left());
- WVPASS(psp.parked());
-}
-
-WVTEST_MAIN("forward perpendicullar parking slot planner")
-{
- PSPlanner psp;
- psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
- psp.gc().x(4);
- psp.gc().y(4);
- psp.gc().h(0);
- psp.gc().mtr(10);
- psp.gc().wb(2);
- psp.gc().w(1);
- psp.gc().l(3);
- psp.gc().he(1.5);
- psp.gc().df(2 + 0.5);
- psp.gc().dr(0.5);
- psp.cc() = BicycleCar(psp.gc());
-
- // init orientation
- WVPASS(!psp.collide());
- WVPASS(psp.forward());
- WVPASSEQ_DOUBLE(psp.ps().heading() - M_PI / 2, psp.gc().h(), 0.00001);
- WVPASS(psp.parked());
-
- // entry point found by reverse
- WVPASS(!psp.left());
- psp.fer();
- WVPASS(psp.left());
- WVPASS(psp.parked());
-
- // find entry
- psp.cc() = BicycleCar(psp.gc());
- WVPASS(!psp.left());
- psp.fe();
- WVPASS(psp.left());
- WVPASS(psp.parked());
-}
-
-WVTEST_MAIN("possible goals test")
-{
- PSPlanner psp;
- psp.gc().x(0);
- psp.gc().y(0);
- psp.gc().h(0);
- psp.gc().mtr(10);
- psp.gc().wb(2);
- psp.gc().w(1);
- psp.gc().l(3);
- psp.gc().he(1.5);
- psp.gc().df(2 + 0.5);
- psp.gc().dr(0.5);
- psp.cc() = BicycleCar(psp.gc());
- psp.cc().sp(1);
- psp.cc().st(0);
- psp.cc().next();
- WVPASSEQ_DOUBLE(psp.gc().x() + 1, psp.cc().x(), 0.00001);
- WVPASSEQ_DOUBLE(psp.gc().y(), psp.cc().y(), 0.00001);
- WVPASSEQ_DOUBLE(psp.gc().h(), psp.cc().h(), 0.00001);
- WVPASS(psp.possible_goals().size() > 0);
- double i = 1;
- for (auto &c: psp.possible_goals()) {
- WVPASSEQ_DOUBLE(psp.gc().x() + 1 + i, c.x(), 0.00001);
- WVPASSEQ_DOUBLE(psp.gc().y(), c.y(), 0.00001);
- WVPASSEQ_DOUBLE(psp.gc().h(), c.h(), 0.00001);
- i++;
- }
- WVPASSEQ_DOUBLE(psp.gc().x() + 1, psp.cc().x(), 0.00001);
- WVPASSEQ_DOUBLE(psp.gc().y(), psp.cc().y(), 0.00001);
- WVPASSEQ_DOUBLE(psp.gc().h(), psp.cc().h(), 0.00001);
-}