trick/trick_sims/SIM_wheelbot/models/Guidance/test/FindPathTest.cpp

#include <gtest/gtest.h>
#include "findpath.hh"
#include "arena.hh"
#include <algorithm>
#include <vector>

TEST(FindPathTest, FindPath_one)
{
 //Tests the failure case of the FindPath function
 //This is when the goal is completely blocked
 Arena arena(10,7);
 Arena* testarena;
 testarena = &arena;

 GridSquare *origin = arena.getGridSquare(2,1);
 GridSquare *goal = arena.getGridSquare(7,5);

 arena.block(7,4);
 arena.block(6,4);
 arena.block(8,4);
 arena.block(6,5);
 arena.block(8,5);
 arena.block(6,6);
 arena.block(8,6);

 std::cout << std::endl;

 std::vector<Point> returnvalue = FindPath(origin,goal,testarena);

 std::cout << std::endl;
 std::cout << std::endl;

 EXPECT_EQ(returnvalue.size(),0);

}

TEST(FindPathTest, FindPath_two)
{
 //Tests if FindPath finds a path
 Arena arena(10,7);
 Arena* testarena;
 testarena = &arena;

 GridSquare *origin = arena.getGridSquare(2,1);
 GridSquare *goal = arena.getGridSquare(7,5);


 arena.block(2,0);
 arena.block(7,1);
 arena.block(0,2);
 arena.block(1,2);
 arena.block(3,2);
 arena.block(6,2);
 arena.block(3,3);
 arena.block(6,3);
 arena.block(8,3);
 arena.block(2,4);
 arena.block(3,4);
 arena.block(6,4);
 arena.block(8,4);
 arena.block(2,5);
 arena.block(6,6);
 arena.block(7,6);

 std::vector<Point> returnvalue = FindPath(origin,goal,testarena);

 EXPECT_GT(returnvalue.size(),0);

}

TEST(FindPathTest, FindPath_three)
{
 //Tests if FindPath finds a path when start and goal are the same
 Arena arena(10,7);
 Arena* testarena;
 testarena = &arena;

 GridSquare *origin = arena.getGridSquare(2,1);
 GridSquare *goal = arena.getGridSquare(2,1);


 arena.block(2,0);
 arena.block(7,1);
 arena.block(0,2);
 arena.block(1,2);
 arena.block(3,2);
 arena.block(6,2);
 arena.block(3,3);
 arena.block(6,3);
 arena.block(8,3);
 arena.block(2,4);
 arena.block(3,4);
 arena.block(6,4);
 arena.block(8,4);
 arena.block(2,5);
 arena.block(6,6);
 arena.block(7,6);

 std::vector<Point> returnvalue = FindPath(origin,goal,testarena);

 EXPECT_EQ(returnvalue.size(),1);

}

TEST(FindPathTest, FindPath_four)
{
 //Tests if FindPath finds a path when start is outside the arena
 Arena arena(10,7);
 Arena* testarena;
 testarena = &arena;

 GridSquare *origin = arena.getGridSquare(11,13);
 GridSquare *goal = arena.getGridSquare(2,1);



 arena.block(2,0);
 arena.block(7,1);
 arena.block(0,2);
 arena.block(1,2);
 arena.block(3,2);
 arena.block(6,2);
 arena.block(3,3);
 arena.block(6,3);
 arena.block(8,3);
 arena.block(2,4);
 arena.block(3,4);
 arena.block(6,4);
 arena.block(8,4);
 arena.block(2,5);
 arena.block(6,6);
 arena.block(7,6);

 std::cout << std::endl;
 std::vector<Point> returnvalue = FindPath(origin,goal,testarena);
 std::cout << std::endl;
 std::cout << std::endl;

 EXPECT_EQ(returnvalue.size(),0);

}

TEST(FindPathTest, FindPath_five)
{
 //Tests if FindPath finds a path when goal is outside the arena
 Arena arena(10,7);
 Arena* testarena;
 testarena = &arena;

 GridSquare *origin = arena.getGridSquare(2,1);
 GridSquare *goal = arena.getGridSquare(11,12);


 arena.block(2,0);
 arena.block(7,1);
 arena.block(0,2);
 arena.block(1,2);
 arena.block(3,2);
 arena.block(6,2);
 arena.block(3,3);
 arena.block(6,3);
 arena.block(8,3);
 arena.block(2,4);
 arena.block(3,4);
 arena.block(6,4);
 arena.block(8,4);
 arena.block(2,5);
 arena.block(6,6);
 arena.block(7,6);

 std::cout << std::endl;

 std::vector<Point> returnvalue = FindPath(origin,goal,testarena);

 std::cout << std::endl;
 std::cout << std::endl;

 EXPECT_EQ(returnvalue.size(),0);

}

/*TEST(FindPathTest, FindPath_three)
{
  //Tests if FindPath returns the correct values
  Arena arena(10,7);
 Arena* testarena;
 testarena = &arena;

 GridSquare *origin = arena.getGridSquare(2,1);
 GridSquare *goal = arena.getGridSquare(7,5);


 arena.block(2,0);
 arena.block(7,1);
 arena.block(0,2);
 arena.block(1,2);
 arena.block(3,2);
 arena.block(6,2);
 arena.block(3,3);
 arena.block(6,3);
 arena.block(8,3);
 arena.block(2,4);
 arena.block(3,4);
 arena.block(6,4);
 arena.block(8,4);
 arena.block(2,5);
 arena.block(6,6);
 arena.block(7,6);

 std::vector<Point> desiredvalues (7);

 desiredvalues[0].x = 2;
 desiredvalues[0].y = 1;
 desiredvalues[1].x = 3;
 desiredvalues[1].y = 1;
 desiredvalues[2].x = 4;
 desiredvalues[2].y = 2;
 desiredvalues[3].x = 5;
 desiredvalues[3].y = 3;
 desiredvalues[4].x = 5;
 desiredvalues[4].y = 4;
 desiredvalues[5].x = 6;
 desiredvalues[5].y = 5;
 desiredvalues[6].x = 7;
 desiredvalues[6].y = 5;

 std::vector<Point> returnvalue = FindPath(origin,goal,testarena);

 EXPECT_EQ(desiredvalues[0].x, returnvalue[0].x);
 EXPECT_EQ(desiredvalues[0].y, returnvalue[0].y);
 EXPECT_EQ(desiredvalues[1].x, returnvalue[1].x);
 EXPECT_EQ(desiredvalues[1].y, returnvalue[1].y);
 EXPECT_EQ(desiredvalues[2].x, returnvalue[2].x);
 EXPECT_EQ(desiredvalues[2].y, returnvalue[2].y);
 EXPECT_EQ(desiredvalues[3].x, returnvalue[3].x);
 EXPECT_EQ(desiredvalues[3].y, returnvalue[3].y);
 EXPECT_EQ(desiredvalues[4].x, returnvalue[4].x);
 EXPECT_EQ(desiredvalues[4].y, returnvalue[4].y);
 EXPECT_EQ(desiredvalues[5].x, returnvalue[5].x);
 EXPECT_EQ(desiredvalues[5].y, returnvalue[5].y);
 EXPECT_EQ(desiredvalues[6].x, returnvalue[6].x);
 EXPECT_EQ(desiredvalues[6].y, returnvalue[6].y);
}*/