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feature/store-proxemics-in-memory into master
Open Fabian Reister requested to merge feature/store-proxemics-in-memory into master
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source/armarx/navigation/human/test/human_test.cpp
+ 1
− 117
@@ -166,7 +166,7 @@ BOOST_AUTO_TEST_CASE(testCombinedDistance1_threeDistances)
BOOST_CHECK_CLOSE(d, 2 * 1.5 * 2.5, 0.001);
}
BOOST_AUTO_TEST_CASE(testConvexHullGenerator_triangle)
BOOST_AUTO_TEST_CASE(testConvexHullGenerator1_triangle)
{
ConvexHullGenerator generator = ConvexHullGenerator();
@@ -220,119 +220,3 @@ BOOST_AUTO_TEST_CASE(testConvexHullGenerator_triangle)
BOOST_CHECK(std::find(hull.vertices.begin(), hull.vertices.end(), pose4.translation()) ==
hull.vertices.end());
}
//BOOST_AUTO_TEST_CASE(testPathLength)
//{
// armarx::navigation::core::Path path{
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 0, 0)),
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 2000, 0)),
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 4000, 0))};
// const auto traj = armarx::navigation::core::GlobalTrajectory::FromPath(path, 100);
// BOOST_CHECK_CLOSE(traj.length(), 4000, 0.01);
//}
//BOOST_AUTO_TEST_CASE(testResampleAlongLine)
//{
// armarx::navigation::core::Path path{
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 0, 0)),
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 2000, 0))};
// const auto traj = armarx::navigation::core::GlobalTrajectory::FromPath(path, 100);
// BOOST_CHECK_EQUAL(traj.points().size(), 2);
// const auto resampledTraj = traj.resample(500);
// for (const auto& pt : resampledTraj.positions())
// {
// ARMARX_DEBUG << VAROUT(pt);
// }
// BOOST_CHECK_EQUAL(resampledTraj.points().size(), 4);
//}
//BOOST_AUTO_TEST_CASE(testResampleAlongLineWithWaypoint)
//{
// armarx::navigation::core::Path path{
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 0, 0)),
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 1050, 0)),
// armarx::navigation::core::Pose(Eigen::Translation3f(0, 2100, 0))};
// const auto traj = armarx::navigation::core::GlobalTrajectory::FromPath(path, 100);
// BOOST_CHECK_EQUAL(traj.points().size(), 3);
// const auto resampledTraj = traj.resample(500);
// for (const auto& pt : resampledTraj.positions())
// {
// ARMARX_DEBUG << VAROUT(pt);
// }
// BOOST_CHECK_EQUAL(resampledTraj.points().size(), 5);
//}
//BOOST_AUTO_TEST_CASE(testGraphRoutes)
//{
// using namespace armarx::navigation;
// /*
// *
// * (0) -> (2) -> (3)
// * ^
// * |
// * (1)
// */
// core::Graph graph;
// graph.addVertex(semrel::ShapeID(0));
// graph.addVertex(semrel::ShapeID(1));
// graph.addVertex(semrel::ShapeID(2));
// graph.addVertex(semrel::ShapeID(3));
// graph.addEdge(semrel::ShapeID(0), semrel::ShapeID(2));
// graph.addEdge(semrel::ShapeID(1), semrel::ShapeID(2));
// graph.addEdge(semrel::ShapeID(2), semrel::ShapeID(3));
// const auto paths =
// armarx::navigation::core::findPathsTo(graph.vertex(semrel::ShapeID(3)), graph);
// // GT: paths
// // - {3}
// // - {2,3}
// // - {0,2,3}
// // - {1,2,3}
// BOOST_CHECK_EQUAL(paths.size(), 4);
// std::vector<std::vector<int>> gtPaths{{3}, {2, 3}, {0, 2, 3}, {1, 2, 3}};
// const auto isMatchingPath = [](const auto& path, const auto& gtPath)
// {
// if (path.size() != gtPath.size())
// {
// return false;
// }
// // check that sequences match
// for (const auto& [v, gtId] : ranges::views::zip(path, gtPath))
// {
// if (v.objectID().t != gtId)
// {
// return false;
// }
// }
// ARMARX_INFO << "Found matching path: " << VAROUT(path) << ", " << VAROUT(gtPath);
// return true;
// };
// // check that all required paths are available
// for (const auto& gtPath : gtPaths)
// {
// BOOST_CHECK(std::any_of(paths.begin(),
// paths.end(),
// [&gtPath, &isMatchingPath](const auto& path)
// { return isMatchingPath(path, gtPath); }));
// }
//}