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Test fixes to Ogre2.2 branch (#279)
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Signed-off-by: Michael Carroll <michael@openrobotics.org>
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@mjcarroll
mjcarroll committed May 4, 2021
1 parent a0a9adf commit 5c51673
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Showing 2 changed files with 32 additions and 32 deletions.
28 changes: 14 additions & 14 deletions test/integration/gpu_rays.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -291,13 +291,13 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
// rays caster 1 should see box01 and box02
EXPECT_NEAR(scan[mid], expectedRangeAtMidPointBox1, LASER_TOL);
EXPECT_NEAR(scan[0], expectedRangeAtMidPointBox2, LASER_TOL);
EXPECT_DOUBLE_EQ(scan[last], ignition::math::INF_D);
EXPECT_FLOAT_EQ(scan[last], ignition::math::INF_F);

// rays cater should see box01 with laser retro value set to laserRetro1
// and box02 with laser retro value set to laserRetro2
EXPECT_NEAR(scan[mid+1], laserRetro1, 5.0);
EXPECT_NEAR(scan[0+1], laserRetro2, 5.0);
EXPECT_DOUBLE_EQ(scan[last+1], 0.0);
EXPECT_FLOAT_EQ(scan[last+1], 0.0);

// Verify rays caster 2 range readings
// listen to new gpu rays frames
Expand All @@ -308,9 +308,9 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
gpuRays2->Copy(scan2);

// Only box01 should be visible to rays caster 2
EXPECT_DOUBLE_EQ(scan2[0], maxRange);
EXPECT_FLOAT_EQ(scan2[0], maxRange);
EXPECT_NEAR(scan2[mid], expectedRangeAtMidPointBox1, LASER_TOL);
EXPECT_DOUBLE_EQ(scan2[last], maxRange);
EXPECT_FLOAT_EQ(scan2[last], maxRange);

// Move all boxes out of range
visualBox1->SetWorldPosition(
Expand All @@ -325,10 +325,10 @@ void GpuRaysTest::RaysUnitBox(const std::string &_renderEngine)
gpuRays2->Copy(scan2);

for (int i = 0; i < gpuRays->RayCount(); ++i)
EXPECT_DOUBLE_EQ(scan[i * 3], ignition::math::INF_D);
EXPECT_FLOAT_EQ(scan[i * 3], ignition::math::INF_F);

for (int i = 0; i < gpuRays2->RayCount(); ++i)
EXPECT_DOUBLE_EQ(scan2[i * 3], maxRange);
EXPECT_FLOAT_EQ(scan2[i * 3], maxRange);

c.reset();

Expand Down Expand Up @@ -442,10 +442,10 @@ void GpuRaysTest::LaserVertical(const std::string &_renderEngine)
angleStep += vAngleStep;

// check that the values in the extremes are infinity
EXPECT_DOUBLE_EQ(scan[i * hRayCount * channels],
ignition::math::INF_D);
EXPECT_DOUBLE_EQ(scan[(i * hRayCount + (hRayCount - 1)) * channels],
ignition::math::INF_D);
EXPECT_FLOAT_EQ(scan[i * hRayCount * channels],
ignition::math::INF_F);
EXPECT_FLOAT_EQ(scan[(i * hRayCount + (hRayCount - 1)) * channels],
ignition::math::INF_F);
}

// Move box out of range
Expand All @@ -461,8 +461,8 @@ void GpuRaysTest::LaserVertical(const std::string &_renderEngine)
{
for (int i = 0; i < gpuRays->RayCount(); ++i)
{
EXPECT_DOUBLE_EQ(scan[j * gpuRays->RayCount() * channels+ i * channels],
ignition::math::INF_D);
EXPECT_FLOAT_EQ(scan[j * gpuRays->RayCount() * channels+ i * channels],
ignition::math::INF_F);
}
}

Expand Down Expand Up @@ -629,7 +629,7 @@ void GpuRaysTest::RaysParticles(const std::string &_renderEngine)
EXPECT_NEAR(expectedRangeAtMidPointBox2, scan[0], LASER_TOL);

// sensor should not see box03 as it is out of range
EXPECT_DOUBLE_EQ(ignition::math::INF_D, scan[last]);
EXPECT_DOUBLE_EQ(ignition::math::INF_F, scan[last]);
}

// there should be at least one hit
Expand Down Expand Up @@ -667,7 +667,7 @@ void GpuRaysTest::RaysParticles(const std::string &_renderEngine)
EXPECT_NEAR(expectedRangeAtMidPointBox2, scan[0], LASER_TOL);

// sensor should not see box03 as it is out of range
EXPECT_DOUBLE_EQ(ignition::math::INF_D, scan[last]);
EXPECT_DOUBLE_EQ(ignition::math::INF_F, scan[last]);
}

// there should be at least one hit
Expand Down
36 changes: 18 additions & 18 deletions test/integration/lidar_visual.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -100,22 +100,22 @@ void LidarVisualTest::Configure(const std::string &_renderEngine)
// The following tests all the getters and setters
{
lidarVis->SetMinVerticalAngle(0.1);
EXPECT_NEAR(lidarVis->MinVerticalAngle(), 0.1, 1e-6);
EXPECT_DOUBLE_EQ(lidarVis->MinVerticalAngle(), 0.1);

lidarVis->SetMaxVerticalAngle(251.20);
EXPECT_NEAR(lidarVis->MaxVerticalAngle(), 251.20, 1e-6);
EXPECT_DOUBLE_EQ(lidarVis->MaxVerticalAngle(), 251.20);

lidarVis->SetMinRange(0.05);
EXPECT_NEAR(lidarVis->MinRange(), 0.05, 1e-6);
EXPECT_DOUBLE_EQ(lidarVis->MinRange(), 0.05);

lidarVis->SetMaxRange(105.20);
EXPECT_NEAR(lidarVis->MaxRange(), 105.20, 1e-6);
EXPECT_DOUBLE_EQ(lidarVis->MaxRange(), 105.20);

lidarVis->SetMinHorizontalAngle(-1.513);
EXPECT_NEAR(lidarVis->MinHorizontalAngle(), -1.513, 1e-6);
lidarVis->SetMinHorizontalAngle(-1.5136);
EXPECT_DOUBLE_EQ(lidarVis->MinHorizontalAngle(), -1.5136);

lidarVis->SetMaxHorizontalAngle(2.513);
EXPECT_NEAR(lidarVis->MaxHorizontalAngle(), 2.513, 1e-6);
EXPECT_DOUBLE_EQ(lidarVis->MaxHorizontalAngle(), 2.513);

lidarVis->SetHorizontalRayCount(360);
EXPECT_EQ(lidarVis->HorizontalRayCount(), 360u);
Expand Down Expand Up @@ -319,7 +319,7 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
// rays caster values received from lidar should see box01 and box02
EXPECT_NEAR(pts_back[mid], expectedRangeAtMidPointBox1, LASER_TOL);
EXPECT_NEAR(pts_back[0], expectedRangeAtMidPointBox2, LASER_TOL);
EXPECT_DOUBLE_EQ(pts_back[last], ignition::math::INF_D);
EXPECT_FLOAT_EQ(pts_back[last], ignition::math::INF_F);

// Verify rays caster 2 range readings
// listen to new gpu rays frames
Expand All @@ -343,9 +343,9 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
std::vector<double> pts_back2 = lidarVis2->Points();

// Only box01 should be visible to rays caster 2
EXPECT_DOUBLE_EQ(pts_back2[0], maxRange);
EXPECT_FLOAT_EQ(pts_back2[0], maxRange);
EXPECT_NEAR(pts_back2[mid], expectedRangeAtMidPointBox1, LASER_TOL);
EXPECT_DOUBLE_EQ(pts_back2[last], maxRange);
EXPECT_FLOAT_EQ(pts_back2[last], maxRange);

// Move all boxes out of range
visualBox1->SetWorldPosition(
Expand Down Expand Up @@ -378,10 +378,10 @@ void LidarVisualTest::RaysUnitBox(const std::string &_renderEngine)
}

for (unsigned int i = 0; i < lidarVis->HorizontalRayCount(); ++i)
EXPECT_DOUBLE_EQ(pts[i], ignition::math::INF_D);
EXPECT_FLOAT_EQ(pts[i], ignition::math::INF_F);

for (unsigned int i = 0; i < lidarVis->HorizontalRayCount(); ++i)
EXPECT_DOUBLE_EQ(pts2[i], maxRange);
EXPECT_FLOAT_EQ(pts2[i], maxRange);

c.reset();

Expand Down Expand Up @@ -518,10 +518,10 @@ void LidarVisualTest::LaserVertical(const std::string &_renderEngine)
angleStep += vAngleStep;

// check that the values in the extremes are infinity
EXPECT_DOUBLE_EQ(pts[i * hRayCount ],
ignition::math::INF_D);
EXPECT_DOUBLE_EQ(pts[(i * hRayCount + (hRayCount - 1))],
ignition::math::INF_D);
EXPECT_FLOAT_EQ(pts[i * hRayCount ],
ignition::math::INF_F);
EXPECT_FLOAT_EQ(pts[(i * hRayCount + (hRayCount - 1))],
ignition::math::INF_F);
}

// Move box out of range
Expand All @@ -548,8 +548,8 @@ void LidarVisualTest::LaserVertical(const std::string &_renderEngine)
{
for (unsigned int i = 0; i < lidarVis->HorizontalRayCount(); ++i)
{
EXPECT_DOUBLE_EQ(pts[j * lidarVis->HorizontalRayCount()+ i],
ignition::math::INF_D);
EXPECT_FLOAT_EQ(pts[j * lidarVis->HorizontalRayCount()+ i],
ignition::math::INF_F);
}
}

Expand Down

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