Split some superclass tests into NavigationTest, extensively test random numbers and isoccupied method

All plans now tested for start/end points in path, and path being collision free

Author: petercorke

unit_test/NavigationTest.m

@@ -0,0 +1,95 @@
+% test the Navigation abstract superclass
+
+function tests = NavigationTest
+    tests = functiontests(localfunctions);
+end
+
+
+function map_test(tc)
+    map = zeros(10,10);
+    map(2,3) = 1;
+    
+    nav = Bug2(map);  % we can't instantiate Navigation because it's abstract
+    
+    %% test isoccupied method
+    % row vector
+    tc.verifyTrue( nav.isoccupied([3,2]) );
+    tc.verifyFalse( nav.isoccupied([3,3]) );
+    
+    % column vector
+    tc.verifyTrue( nav.isoccupied([3,2]') );
+    tc.verifyFalse( nav.isoccupied([3,3]') );
+    
+    % separate args
+    tc.verifyTrue( nav.isoccupied(3,2) );
+    tc.verifyFalse( nav.isoccupied(3,3) );
+    
+    % out of bound
+    tc.verifyTrue( nav.isoccupied([20 20]) );
+    
+    % multiple points
+    tc.verifyEqual( nav.isoccupied([3 2; 20 20; 3 3]'), [true true false] );
+    
+    tc.verifyEqual( nav.isoccupied([3 20 3], [2 20 3]), [true true false] );
+    tc.verifyEqual( nav.isoccupied([3 20 3]', [2 20 3]), [true true false] );
+    tc.verifyEqual( nav.isoccupied([3 20 3], [2 20 3]'), [true true false] );
+    tc.verifyEqual( nav.isoccupied([3 20 3]', [2 20 3]'), [true true false] );
+    
+    %% test inflation option
+    nav = Bug2(map, 'inflate', 1);
+    tc.verifyTrue( nav.isoccupied([3,2]) );
+    tc.verifyTrue( nav.isoccupied([3,3]) );
+    tc.verifyFalse( nav.isoccupied([3,4]) );
+end
+
+function maptype_test(tc)
+    
+    %% logical map
+    map = zeros(10,10, 'logical');
+    map(2,3) = true;
+    
+    nav = Bug2(map);  % we can't instantiate Navigation because it's abstract
+    
+    tc.verifyTrue( nav.isoccupied([3,2]) );
+    tc.verifyFalse( nav.isoccupied([3,3]) );
+    
+    %% uint8 map
+    map = zeros(10,10, 'uint8');
+    map(2,3) = 1;
+    
+    nav = Bug2(map);  % we can't instantiate Navigation because it's abstract
+    
+    tc.verifyTrue( nav.isoccupied([3,2]) );
+    tc.verifyFalse( nav.isoccupied([3,3]) );
+end
+
+function rand_test(tc)
+    
+    nav = Bug2();  % we can't instantiate Navigation because it's abstract
+    
+    %% test random number generator
+    r = nav.randn;
+    tc.verifySize(r, [1 1]);
+    tc.verifyInstanceOf(r, 'double');
+    r = nav.randn(2,2);
+    tc.verifySize(r, [2 2]);
+end
+
+function randi_test(tc)
+    
+    nav = Bug2();  % we can't instantiate Navigation because it's abstract
+    
+    %% test integer random number generator
+    r = nav.randi(10);
+    tc.verifySize(r, [1 1]);
+    tc.verifyEqual(r, floor(r)); % is it an integer value
+    tc.verifyInstanceOf(r, 'double');
+    r = nav.randi(10, 2,2);
+    tc.verifySize(r, [2 2]);
+    tc.verifyEqual(r, floor(r));
+    
+    % check range
+    r = nav.randi(10, 100,1);
+    tc.verifyTrue(min(r) >= 1);
+    tc.verifyTrue(max(r) <= 10);
+end