Add ext2 not collide ut

diff --git a/ut/rrtext.t.cc b/ut/rrtext.t.cc
index 01844e7ccfa383bed86d3635b6e3c1326e555e0a..0462d098d41e1609fd859d812b12bb8834fb56fc 100644 (file)
--- a/ut/rrtext.t.cc
+++ b/ut/rrtext.t.cc
@@ -75,9 +75,22 @@ WVTEST_MAIN("RRT extension 2 collide")
         WVPASSEQ(rrts.nodes().size(), 1);
         rrts.obstacles().clear();
         rrts.deinit_solid();
+}
+
+WVTEST_MAIN("RRT extension 2 not collide")
+{
+        RRTExt2 rrts;
+        rrts.nodes().front().x(-0.5);
+        rrts.nodes().front().y(-0.5);
+        rrts.nodes().front().h(M_PI / 2);
+        rrts.obstacles().push_back(Obstacle());
+        rrts.obstacles().back().poly().push_back(std::make_tuple(-9.9, -9.9));
+        rrts.obstacles().back().poly().push_back(std::make_tuple(9.9, -9.9));
+        rrts.obstacles().back().poly().push_back(std::make_tuple(9.9, 9.9));
+        rrts.obstacles().back().poly().push_back(std::make_tuple(-9.9, 9.9));
         rrts.init_solid();
-        WVPASS(!dtTest());
+        WVPASS(dtTest());
         rrts.next();
-        WVPASSLT(1, rrts.nodes().size());
+        WVPASSEQ(rrts.nodes().size(), 1);
         rrts.deinit_solid();
 }