px4_autopilot/test/test_geo.cpp

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#include <gtest/gtest.h>
#include <math.h>
#include <mathlib/mathlib.h>
#include <memory>
#include <geo/geo.h>

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);
}