From 46f15aec3c60d84748755f6ef0119e0a0986d8aa Mon Sep 17 00:00:00 2001 From: Jiri Vlasak Date: Thu, 19 Sep 2019 10:19:28 +0200 Subject: [PATCH] Add ext2 not collide ut --- ut/rrtext.t.cc | 17 +++++++++++++++-- 1 file changed, 15 insertions(+), 2 deletions(-) diff --git a/ut/rrtext.t.cc b/ut/rrtext.t.cc index 01844e7..0462d09 100644 --- 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(); } -- 2.39.2