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@gmajrobotec
gmajrobotec committed Aug 16, 2024
1 parent d308b70 commit eb94b6e
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Showing 2 changed files with 80 additions and 86 deletions.
14 changes: 7 additions & 7 deletions simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,13 +44,13 @@ class BehaviorPluginBase
virtual void update(double current_time, double step_time) = 0;
virtual const std::string & getCurrentAction() const = 0;

#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \
virtual TYPE get##NAME() = 0; \
virtual void set##NAME(const TYPE & value) = 0; \
auto get##NAME##Key() const -> const std::string & \
{ \
static const std::string key = KEY; \
return key; \
#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \
virtual TYPE get##NAME() = 0; \
virtual void set##NAME(const TYPE & value) = 0; \
auto get##NAME##Key() const->const std::string & \
{ \
static const std::string key = KEY; \
return key; \
}

// clang-format off
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152 changes: 73 additions & 79 deletions simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,6 @@

#include <gtest/gtest.h>

#include <scenario_simulator_exception/exception.hpp>
#include <traffic_simulator/data_type/lanelet_pose.hpp>

#include "../helper_functions.hpp"
Expand All @@ -26,13 +25,19 @@ int main(int argc, char ** argv)
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
class CanonicalizedLaneletPoseTest : public testing::Test
{
protected:
CanonicalizedLaneletPoseTest() : hdmap_utils(makeHdMapUtilsSharedPointer()) {}

std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils;
};

/**
* @note Test constructor behavior with route_lanelets argument present when canonicalization function fails.
*/
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid)
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute_invalid)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
EXPECT_THROW(
CanonicalizedLaneletPose(
traffic_simulator::helper::constructLaneletPose(120576, 14.6356, 0.0), lanelet::Ids{},
Expand All @@ -43,9 +48,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid)
/**
* @note Test constructor behavior with route_lanelets argument present when canonicalization function succeeds
*/
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute)
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
std::shared_ptr<CanonicalizedLaneletPose> pose;
EXPECT_NO_THROW(
pose = std::make_shared<CanonicalizedLaneletPose>(
Expand All @@ -59,9 +63,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute)
/**
* @note Test constructor behavior with route_lanelets argument absent when canonicalization function fails
*/
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid)
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute_invalid)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
EXPECT_THROW(
CanonicalizedLaneletPose(
traffic_simulator::helper::constructLaneletPose(120576, 0.0, 0.0), hdmap_utils),
Expand All @@ -71,9 +74,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid)
/**
* @note Test constructor behavior with route_lanelets argument absent when canonicalization function succeeds
*/
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute)
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
std::shared_ptr<CanonicalizedLaneletPose> pose;
EXPECT_NO_THROW(
pose = std::make_shared<CanonicalizedLaneletPose>(
Expand All @@ -86,12 +88,11 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute)
/**
* @note Test copy constructor behavior
*/
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor)
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_copyConstructor)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_copy(pose);
const CanonicalizedLaneletPose pose_copy(pose);
EXPECT_LANELET_POSE_EQ(
static_cast<traffic_simulator::LaneletPose>(pose),
static_cast<traffic_simulator::LaneletPose>(CanonicalizedLaneletPose(pose)));
Expand All @@ -100,13 +101,12 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor)
/**
* @note Test move constructor behavior
*/
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor)
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_moveConstructor)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose2(pose);
CanonicalizedLaneletPose pose_move = std::move(pose2);
const CanonicalizedLaneletPose pose2(pose);
const CanonicalizedLaneletPose pose_move = std::move(pose2);
EXPECT_LANELET_POSE_EQ(
static_cast<traffic_simulator::LaneletPose>(pose),
static_cast<traffic_simulator::LaneletPose>(pose_move));
Expand All @@ -115,10 +115,9 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor)
/**
* @note Test copy assignment operator behavior
*/
TEST(CanonicalizedLaneletPose, copyAssignment)
TEST_F(CanonicalizedLaneletPoseTest, copyAssignment)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_assign(
traffic_simulator::helper::constructLaneletPose(34468, 0.0, 0.0), hdmap_utils);
Expand All @@ -133,12 +132,12 @@ TEST(CanonicalizedLaneletPose, copyAssignment)
/**
* @note Test conversion operator behavior using static_cast<LaneletPose>
*/
TEST(CanonicalizedLaneletPose, conversionLaneletPose)
TEST_F(CanonicalizedLaneletPoseTest, conversionLaneletPose)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
traffic_simulator::LaneletPose pose_casted = static_cast<traffic_simulator::LaneletPose>(pose);
const traffic_simulator::LaneletPose pose_casted =
static_cast<traffic_simulator::LaneletPose>(pose);

EXPECT_EQ(pose_casted.lanelet_id, 120659);
EXPECT_DOUBLE_EQ(pose_casted.s, 0.0);
Expand All @@ -149,13 +148,12 @@ TEST(CanonicalizedLaneletPose, conversionLaneletPose)
/**
* @note Test conversion operator behavior using static_cast<Pose>
*/
TEST(CanonicalizedLaneletPose, conversionPose)
TEST_F(CanonicalizedLaneletPoseTest, conversionPose)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);

geometry_msgs::msg::Pose pose1 =
const geometry_msgs::msg::Pose pose1 =
makePose(makePoint(3822.3815, 73784.9618, -1.761), makeQuaternionFromYaw(2.060578777273));

EXPECT_POSE_NEAR(static_cast<geometry_msgs::msg::Pose>(pose), pose1, 0.01);
Expand All @@ -164,10 +162,9 @@ TEST(CanonicalizedLaneletPose, conversionPose)
/**
* @note Test function behavior when alternative poses are present
*/
TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true)
TEST_F(CanonicalizedLaneletPoseTest, hasAlternativeLaneletPose_true)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, -10.0, 0.0), hdmap_utils);

EXPECT_TRUE(pose.hasAlternativeLaneletPose());
Expand All @@ -176,10 +173,9 @@ TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true)
/**
* @note Test function behavior when alternative poses are absent
*/
TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false)
TEST_F(CanonicalizedLaneletPoseTest, hasAlternativeLaneletPose_false)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 10.0, 0.0), hdmap_utils);

EXPECT_FALSE(pose.hasAlternativeLaneletPose());
Expand All @@ -188,27 +184,28 @@ TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false)
/**
* @note Test function behavior when there are no lanelet_poses
*/
TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty)
TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 20.0, 0.0), hdmap_utils);
const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0);
const auto from2 = traffic_simulator::helper::constructLaneletPose(34579, 10.0, 0.0);

const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils);
const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils);

ASSERT_TRUE(result1);
ASSERT_TRUE(result2);

EXPECT_EQ(result1.value().lanelet_id, 120659);
EXPECT_EQ(result2.value().lanelet_id, 120659);
}

/**
* @note Test function behavior when there is only one lanelet_pose
*/
TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single)
TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(34666, -20.0, 0.0), hdmap_utils);
const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0);
Expand All @@ -217,16 +214,18 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_
const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils);
const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils);

ASSERT_TRUE(result1);
ASSERT_TRUE(result2);

EXPECT_EQ(result1.value().lanelet_id, 34603);
EXPECT_EQ(result2.value().lanelet_id, 34603);
}

/**
* @note Test function behavior when there are multiple lanelet_poses
*/
TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple)
TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, -20.0, 0.0), hdmap_utils);
const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0);
Expand All @@ -235,6 +234,9 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_
const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils);
const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils);

ASSERT_TRUE(result1);
ASSERT_TRUE(result2);

EXPECT_EQ(result1.value().lanelet_id, 34603);
EXPECT_EQ(result2.value().lanelet_id, 34579);
}
Expand All @@ -260,16 +262,15 @@ TEST(CanonicalizedLaneletPose, setConsiderPoseByRoadSlope)
/**
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
*/
TEST(CanonicalizedLaneletPose, operatorLessEqual)
TEST_F(CanonicalizedLaneletPoseTest, operatorLessEqual)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_equal(
const CanonicalizedLaneletPose pose_equal(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_less(
const CanonicalizedLaneletPose pose_less(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_greater(
const CanonicalizedLaneletPose pose_greater(
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);

EXPECT_TRUE(pose_less <= pose);
Expand All @@ -280,16 +281,15 @@ TEST(CanonicalizedLaneletPose, operatorLessEqual)
/**
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
*/
TEST(CanonicalizedLaneletPose, operatorLess)
TEST_F(CanonicalizedLaneletPoseTest, operatorLess)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_equal(
const CanonicalizedLaneletPose pose_equal(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_less(
const CanonicalizedLaneletPose pose_less(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_greater(
const CanonicalizedLaneletPose pose_greater(
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);

EXPECT_TRUE(pose_less < pose);
Expand All @@ -300,16 +300,15 @@ TEST(CanonicalizedLaneletPose, operatorLess)
/**
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
*/
TEST(CanonicalizedLaneletPose, operatorGreaterEqual)
TEST_F(CanonicalizedLaneletPoseTest, operatorGreaterEqual)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_equal(
const CanonicalizedLaneletPose pose_equal(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_less(
const CanonicalizedLaneletPose pose_less(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_greater(
const CanonicalizedLaneletPose pose_greater(
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);

EXPECT_FALSE(pose_less >= pose);
Expand All @@ -320,16 +319,15 @@ TEST(CanonicalizedLaneletPose, operatorGreaterEqual)
/**
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
*/
TEST(CanonicalizedLaneletPose, operatorGreater)
TEST_F(CanonicalizedLaneletPoseTest, operatorGreater)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_equal(
const CanonicalizedLaneletPose pose_equal(
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_less(
const CanonicalizedLaneletPose pose_less(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose_greater(
const CanonicalizedLaneletPose pose_greater(
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);

EXPECT_FALSE(pose_less > pose);
Expand All @@ -340,12 +338,11 @@ TEST(CanonicalizedLaneletPose, operatorGreater)
/**
* @note Test function behavior when provided two poses occupying the same lanelet_id
*/
TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same)
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_same)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose1(
const CanonicalizedLaneletPose pose1(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose2(
const CanonicalizedLaneletPose pose2(
traffic_simulator::helper::constructLaneletPose(120659, 1.0, 0.0), hdmap_utils);

EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose1, pose2));
Expand All @@ -354,10 +351,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same)
/**
* @note Test function behavior when provided two poses occupying different lanelet_ids
*/
TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different)
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_different)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose1(
const CanonicalizedLaneletPose pose1(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
CanonicalizedLaneletPose pose2(
traffic_simulator::helper::constructLaneletPose(34606, 1.0, 0.0), hdmap_utils);
Expand All @@ -368,10 +364,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different)
/**
* @note Test function behavior when provided with a pose having lanelt_id equal to the lanelet_id argument
*/
TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same)
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_same)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);

EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose, 120659));
Expand All @@ -380,10 +375,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same)
/**
* @note Test function behavior when provided with a pose having lanelet_id different to the lanelet_id argument
*/
TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_different)
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_different)
{
auto hdmap_utils = makeHdMapUtilsSharedPointer();
CanonicalizedLaneletPose pose(
const CanonicalizedLaneletPose pose(
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);

EXPECT_FALSE(traffic_simulator::isSameLaneletId(pose, 34606));
Expand Down

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