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98 lines
3.3 KiB
98 lines
3.3 KiB
5 years ago
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/****************************************************************************
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*
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* Copyright (c) 2020 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <math.h>
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#include <mathlib/mathlib.h>
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#include <memory>
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#include <geo/geo.h>
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class GeoTest : public ::testing::Test {
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public:
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void SetUp() override
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{
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origin.timestamp = 0;
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origin.lat_rad = math::radians(473566094 / 1e7);
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origin.lon_rad = math::radians(85190237 / 1e7);
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origin.sin_lat = sin(origin.lat_rad);
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origin.cos_lat = cos(origin.lat_rad);
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origin.init_done = true;
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}
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protected:
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map_projection_reference_s origin;
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};
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TEST_F(GeoTest, reprojectProject)
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{
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// GIVEN: x and y coordinates in the local cartesian frame
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float x = 0.5;
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float y = 1;
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double lat;
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double lon;
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map_projection_reproject(&origin, x, y, &lat, &lon);
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float x_new;
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float y_new;
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map_projection_project(&origin, lat, lon, &x_new, &y_new);
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double lat_new;
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double lon_new;
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map_projection_reproject(&origin, x_new, y_new, &lat_new, &lon_new);
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EXPECT_FLOAT_EQ(x, x_new);
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EXPECT_FLOAT_EQ(y, y_new);
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EXPECT_FLOAT_EQ(lat, lat_new);
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EXPECT_FLOAT_EQ(lon, lon_new);
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}
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TEST_F(GeoTest, projectReproject)
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{
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// GIVEN: x and y coordinates in the local cartesian frame
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double lat = 47.356616973876953;
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double lon = 8.5190505981445313;
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float x;
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float y;
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map_projection_project(&origin, lat, lon, &x, &y);
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double lat_new;
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double lon_new;
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map_projection_reproject(&origin, x, y, &lat_new, &lon_new);
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float x_new;
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float y_new;
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map_projection_project(&origin, lat_new, lon_new, &x_new, &y_new);
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// WHEN: apply the mapping and its inverse the output should stay the same
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EXPECT_FLOAT_EQ(x, x_new);
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EXPECT_FLOAT_EQ(y, y_new);
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EXPECT_FLOAT_EQ(lat, lat_new);
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EXPECT_FLOAT_EQ(lon, lon_new);
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}
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