Skip to content

Feature/unit tests/hdmap utils problematic #21

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
wants to merge 1 commit into
base: feature/unit_tests/hdmap_utils
Choose a base branch
from
Open

Feature/unit tests/hdmap utils problematic #21

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
78 changes: 78 additions & 0 deletions simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -435,6 +435,40 @@ TEST(HdMapUtils, getNearbyLaneletIds_unsuccessful)
EXPECT_TRUE(lanelets.empty());
}

TEST(HdMapUtils, getNearbyLaneletIds_crosswalkIncluded)
{
auto hdmap_utils = makeHdMapUtilsInstance();

auto point = makePoint(3768.01, 73750.97);
const double distance_threshold = 0.0;
bool include_crosswalk = true;
size_t search_count = 100;
auto lanelets =
hdmap_utils.getNearbyLaneletIds(point, distance_threshold, include_crosswalk, search_count);

lanelet::Id id_crosswalk = 34399;
lanelet::Id id_road = 34633;
EXPECT_EQ(lanelets.size(), 2);
EXPECT_TRUE(std::find(lanelets.begin(), lanelets.end(), id_crosswalk) != lanelets.end());
EXPECT_TRUE(std::find(lanelets.begin(), lanelets.end(), id_road) != lanelets.end());
}

TEST(HdMapUtils, getNearbyLaneletIds_crosswalkNotIncluded)
{
auto hdmap_utils = makeHdMapUtilsInstance();

auto point = makePoint(3768.01, 73750.97);
const double distance_threshold = 0.0;
bool include_crosswalk = false;
size_t search_count = 100;
auto lanelets =
hdmap_utils.getNearbyLaneletIds(point, distance_threshold, include_crosswalk, search_count);

lanelet::Id id_road = 34633;
EXPECT_EQ(lanelets.size(), 1);
EXPECT_EQ(lanelets[0], id_road);
}

TEST(HdMapUtils, getNearbyLaneletIds_crosswalkUnsuccessful)
{
auto hdmap_utils = makeHdMapUtilsInstance();
Expand Down Expand Up @@ -1213,6 +1247,42 @@ TEST(HdMapUtils, getLaneChangeableLaneletId_shift0)
EXPECT_EQ(result_lanelet.value(), end_lanelet);
}

TEST(HdMapUtils, getPreviousLanelets_straightBefore)
{
auto hdmap_utils = makeHdMapUtilsInstance(four_track_highway_map_path);
const lanelet::Id lanelet_id = 202;

auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 50.0);

lanelet::Ids actual_previous{202, 3002185, 3002181};

EXPECT_EQ(result_previous, actual_previous);
}

TEST(HdMapUtils, getPreviousLanelets_curveBefore)
{
auto hdmap_utils = makeHdMapUtilsInstance();
const lanelet::Id lanelet_id = 34600;

auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 100.0);

lanelet::Ids actual_previous{34600, 34783, 34606, 34795, 34507};

EXPECT_EQ(result_previous, actual_previous);
}

TEST(HdMapUtils, getPreviousLanelets_notEnoughLaneletsBefore)
{
auto hdmap_utils = makeHdMapUtilsInstance(four_track_highway_map_path);
const lanelet::Id lanelet_id = 202;

auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 200.0);

lanelet::Ids actual_previous{202, 3002185, 3002181, 3002178};

EXPECT_EQ(result_previous, actual_previous);
}

TEST(HdMapUtils, getTrafficLightIds_correct)
{
auto hdmap_utils = makeHdMapUtilsInstance();
Expand Down Expand Up @@ -2159,6 +2229,14 @@ TEST(HdMapUtils, getStopLinePolygon_stopLine)
EXPECT_POINT_NEAR(result_stoplines_points.at(1), actual_stoplines_points.at(1), epsilon);
}

TEST(HdMapUtils, getStopLinePolygon_noStopLine)
{
auto hdmap_utils = makeHdMapUtilsInstance(crossroads_with_stoplines_map_path);
const lanelet::Id linestring_id_no_stopline{34629};

EXPECT_THROW(hdmap_utils.getStopLinePolygon(linestring_id_no_stopline), std::runtime_error);
}

TEST(HdMapUtils, getStopLinePolygon_invalidLaneletId)
{
auto hdmap_utils = makeHdMapUtilsInstance(crossroads_with_stoplines_map_path);
Expand Down