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97 lines
3.3 KiB
97 lines
3.3 KiB
/**************************************************************************** |
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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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