/**************************************************************************** * * Copyright (c) 2020 ECL Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in * the documentation and/or other materials provided with the * distribution. * 3. Neither the name PX4 nor the names of its contributors may be * used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. * ****************************************************************************/ #include #include #include #include #include class GeoTest : public ::testing::Test { public: void SetUp() override { origin.timestamp = 0; origin.lat_rad = math::radians(473566094 / 1e7); origin.lon_rad = math::radians(85190237 / 1e7); origin.sin_lat = sin(origin.lat_rad); origin.cos_lat = cos(origin.lat_rad); origin.init_done = true; } protected: map_projection_reference_s origin; }; TEST_F(GeoTest, reprojectProject) { // GIVEN: x and y coordinates in the local cartesian frame float x = 0.5; float y = 1; double lat; double lon; map_projection_reproject(&origin, x, y, &lat, &lon); float x_new; float y_new; map_projection_project(&origin, lat, lon, &x_new, &y_new); double lat_new; double lon_new; map_projection_reproject(&origin, x_new, y_new, &lat_new, &lon_new); EXPECT_FLOAT_EQ(x, x_new); EXPECT_FLOAT_EQ(y, y_new); EXPECT_FLOAT_EQ(lat, lat_new); EXPECT_FLOAT_EQ(lon, lon_new); } TEST_F(GeoTest, projectReproject) { // GIVEN: x and y coordinates in the local cartesian frame double lat = 47.356616973876953; double lon = 8.5190505981445313; float x; float y; map_projection_project(&origin, lat, lon, &x, &y); double lat_new; double lon_new; map_projection_reproject(&origin, x, y, &lat_new, &lon_new); float x_new; float y_new; map_projection_project(&origin, lat_new, lon_new, &x_new, &y_new); // WHEN: apply the mapping and its inverse the output should stay the same EXPECT_FLOAT_EQ(x, x_new); EXPECT_FLOAT_EQ(y, y_new); EXPECT_FLOAT_EQ(lat, lat_new); EXPECT_FLOAT_EQ(lon, lon_new); } TEST_F(GeoTest, waypoint_from_heading_and_zero_distance) { // GIVEN: a starting waypoint, a heading and a distance of 0 double lat_start = -33; double lon_start = 18; float bearing = 0; float dist = 0; double lat_target = 0; double lon_target = 0; // WHEN: we get the next waypoint waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target); // THEN: it should be the same EXPECT_DOUBLE_EQ(lat_start, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } TEST_F(GeoTest, waypoint_from_heading_and_negative_distance) { // GIVEN: a starting waypoint, a heading and negative distance double lat_start = -33; double lon_start = 18; float bearing = 0; float lat_offset = -0.01f; float dist = CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; double lat_target = 0; double lon_target = 0; // WHEN: we get the next waypoint waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target); // THEN: it should be the same EXPECT_FLOAT_EQ(lat_start + lat_offset, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } TEST_F(GeoTest, waypoint_from_heading_and_positive_distance) { // GIVEN: a starting waypoint, a heading and positive distance double lat_start = -33; double lon_start = 18; float bearing = 0; float lat_offset = 0.01f; float dist = CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; double lat_target = 0; double lon_target = 0; // WHEN: we get the next waypoint waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target); // THEN: it should be the same EXPECT_FLOAT_EQ(lat_start + lat_offset, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } TEST_F(GeoTest, waypoint_from_line_and_zero_distance) { // GIVEN: a starting waypoint, a heading and a distance of 0 double lat_start = -33; double lon_start = 18; double lat_end = -32; double lon_end = 18; float dist = 0; double lat_target = 0; double lon_target = 0; // WHEN: we get the next waypoint create_waypoint_from_line_and_dist(lat_start, lon_start, lat_end, lon_end, dist, &lat_target, &lon_target); // THEN: it should be the same EXPECT_DOUBLE_EQ(lat_start, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } TEST_F(GeoTest, waypoint_from_line_and_positive_distance) { // GIVEN: a starting waypoint, a heading and a positive distance double lat_start = -33; double lon_start = 18; double lat_offset = 0.01; double lat_end = lat_start + lat_offset; double lon_end = 18; float dist = CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; double lat_target = 0; double lon_target = 0; // WHEN: we get the next waypoint create_waypoint_from_line_and_dist(lat_start, lon_start, lat_end, lon_end, dist, &lat_target, &lon_target); // THEN: it should be the same EXPECT_FLOAT_EQ(lat_start + lat_offset, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); } TEST_F(GeoTest, waypoint_from_line_and_negative_distance) { // GIVEN: a starting waypoint, a heading and a negative distance double lat_start = -33; double lon_start = 18; double lat_offset = 0.01; double lat_end = lat_start + lat_offset; double lon_end = 18; float dist = -CONSTANTS_RADIUS_OF_EARTH * M_PI / 180.f * lat_offset; double lat_target = 0; double lon_target = 0; // WHEN: we get the next waypoint create_waypoint_from_line_and_dist(lat_start, lon_start, lat_end, lon_end, dist, &lat_target, &lon_target); // THEN: it should be the same EXPECT_FLOAT_EQ(lat_start - lat_offset, lat_target); EXPECT_DOUBLE_EQ(lon_start, lon_target); }