Rename `possible_inits` to `possible_goals`

[hubacji1/psp.git] / ut / psp.t.cc

diff --git a/ut/psp.t.cc b/ut/psp.t.cc
index 36195b6235e40c07c1a92cf2df5bbe147ec1ee11..c9278b6aa3f4add585b422bb737b0a74ba43a0d7 100644 (file)
--- a/ut/psp.t.cc
+++ b/ut/psp.t.cc
@@ -7,9 +7,6 @@ WVTEST_MAIN("parallel parking slot planner")
 {
         PSPlanner psp;
         psp.ps().border(3, 3, 5, 3, 5, 8, 3, 8);
-        psp.gc().x(4);
-        psp.gc().y(4);
-        psp.gc().h(M_PI / 2);
         psp.gc().mtr(10);
         psp.gc().wb(2);
         psp.gc().w(1);
@@ -17,11 +14,12 @@ WVTEST_MAIN("parallel parking slot planner")
         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());
+        WVPASS(!psp.forward());
         WVPASSEQ_DOUBLE(psp.ps().heading(), psp.gc().h(), 0.00001);
         WVPASS(psp.parked());
         std::vector<std::tuple<double, double>> slot;
@@ -63,9 +61,6 @@ WVTEST_MAIN("backward perpendicullar parking slot planner")
 {
         PSPlanner psp;
         psp.ps().border(3, 3, 8, 3, 8, 5, 3, 5);
-        psp.gc().x(7);
-        psp.gc().y(4);
-        psp.gc().h(M_PI);
         psp.gc().mtr(10);
         psp.gc().wb(2);
         psp.gc().w(1);
@@ -73,6 +68,7 @@ WVTEST_MAIN("backward perpendicullar parking slot planner")
         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
@@ -130,3 +126,36 @@ WVTEST_MAIN("forward perpendicullar parking slot planner")
         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);
+}