Update changelog

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

diff --git a/ut/psp.t.cc b/ut/psp.t.cc
index 1e6fcccc8459a109ed9c8e3d6f52ff17b12d25cc..06aeeb812d2524a424f8da8061767a3ae4764235 100644 (file)
--- a/ut/psp.t.cc
+++ b/ut/psp.t.cc
@@ -3,136 +3,5 @@
 
 #include "psp.h"
 
-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);
-        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(), 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
-        auto tmpi1 = intersect(1, 1, 3, 3, 1, 3, 3, 1);
-        WVPASS(std::get<0>(tmpi1));
-        WVPASSEQ_DOUBLE(std::get<1>(tmpi1), 2, 0.00001);
-        WVPASSEQ_DOUBLE(std::get<2>(tmpi1), 2, 0.00001);
-        auto tmpi2 = intersect(1, 1, 1, 3, 3, 1, 3, 3);
-        WVPASS(!std::get<0>(tmpi2));
-        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().x(7);
-        psp.gc().y(4);
-        psp.gc().h(M_PI);
-        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("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("pslot blank") {
 }