ut/psp.t.cc

   1 #include <cmath>
   2 #include "wvtest.h"
   3
   4 #include "psp.h"
   5
   6 WVTEST_MAIN("parallel parking slot planner")
   7 {
   8         PSPlanner psp;
   9         psp.ps().border(3, 3, 5, 3, 5, 8, 3, 8);
  10         psp.gc().x(4);
  11         psp.gc().y(4);
  12         psp.gc().h(M_PI / 2);
  13         psp.gc().mtr(10);
  14         psp.gc().wb(2);
  15         psp.gc().w(1);
  16         psp.gc().l(3);
  17         psp.gc().he(1.5);
  18         psp.gc().df(2 + 0.5);
  19         psp.gc().dr(0.5);
  20         psp.cc() = BicycleCar(psp.gc());
  21
  22         // init orientation
  23         WVPASS(!psp.collide());
  24         WVPASS(psp.forward());
  25         WVPASSEQ_DOUBLE(psp.ps().heading(), psp.gc().h(), 0.00001);
  26
  27         // entry point found by reverse
  28         WVPASS(!psp.left());
  29         psp.fer();
  30         WVPASS(psp.left());
  31
  32         // find entry
  33         psp.cc() = BicycleCar(psp.gc());
  34         WVPASS(!psp.left());
  35         psp.fe();
  36         WVPASS(psp.left());
  37
  38         // collide
  39         auto tmpi1 = intersect(1, 1, 3, 3, 1, 3, 3, 1);
  40         WVPASS(std::get<0>(tmpi1));
  41         WVPASSEQ_DOUBLE(std::get<1>(tmpi1), 2, 0.00001);
  42         WVPASSEQ_DOUBLE(std::get<2>(tmpi1), 2, 0.00001);
  43         auto tmpi2 = intersect(1, 1, 1, 3, 3, 1, 3, 3);
  44         WVPASS(!std::get<0>(tmpi2));
  45         PSPlanner tpsp;
  46         tpsp.ps().border(2, 3, 4, 3, 4, 8, 2, 8);
  47         tpsp.gc() = BicycleCar(psp.gc());
  48         tpsp.cc() = BicycleCar(tpsp.gc());
  49         WVPASS(tpsp.collide());
  50         WVPASS(!tpsp.left());
  51         tpsp.ps().border(3, 4.1, 3, 2.1, 8, 2.1, 8, 4.1);
  52         WVPASS(tpsp.left());
  53 }
  54
  55 WVTEST_MAIN("backward perpendicullar parking slot planner")
  56 {
  57         PSPlanner psp;
  58         psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
  59         psp.gc().x(7);
  60         psp.gc().y(4);
  61         psp.gc().h(M_PI);
  62         psp.gc().mtr(10);
  63         psp.gc().wb(2);
  64         psp.gc().w(1);
  65         psp.gc().l(3);
  66         psp.gc().he(1.5);
  67         psp.gc().df(2 + 0.5);
  68         psp.gc().dr(0.5);
  69         psp.cc() = BicycleCar(psp.gc());
  70
  71         // init orientation
  72         WVPASS(!psp.collide());
  73         WVPASS(!psp.forward());
  74         WVPASSEQ_DOUBLE(psp.ps().heading() + M_PI / 2, psp.gc().h(), 0.00001);
  75
  76         // entry point found by reverse
  77         WVPASS(!psp.left());
  78         psp.fer();
  79         WVPASS(psp.left());
  80
  81         // find entry
  82         psp.cc() = BicycleCar(psp.gc());
  83         WVPASS(!psp.left());
  84         psp.fe();
  85         WVPASS(psp.left());
  86 }
  87
  88 WVTEST_MAIN("forward perpendicullar parking slot planner")
  89 {
  90         PSPlanner psp;
  91         psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
  92         psp.gc().x(4);
  93         psp.gc().y(4);
  94         psp.gc().h(0);
  95         psp.gc().mtr(10);
  96         psp.gc().wb(2);
  97         psp.gc().w(1);
  98         psp.gc().l(3);
  99         psp.gc().he(1.5);
 100         psp.gc().df(2 + 0.5);
 101         psp.gc().dr(0.5);
 102         psp.cc() = BicycleCar(psp.gc());
 103
 104         // init orientation
 105         WVPASS(!psp.collide());
 106         WVPASS(psp.forward());
 107         WVPASSEQ_DOUBLE(psp.ps().heading() - M_PI / 2, psp.gc().h(), 0.00001);
 108
 109         // entry point found by reverse
 110         WVPASS(!psp.left());
 111         psp.fer();
 112         WVPASS(psp.left());
 113
 114         // find entry
 115         psp.cc() = BicycleCar(psp.gc());
 116         WVPASS(!psp.left());
 117         psp.fe();
 118         WVPASS(psp.left());
 119 }