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astar_test.cpp
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250 lines (204 loc) · 6.89 KB
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/*
* astar_test.cpp
*
* Created on: Mar 20, 2022 20:50
* Description:
*
* Copyright (c) 2022 Pin Loon Lee (pllee4)
*/
#include "algorithm/robotics/astar/astar.hpp"
#include "gtest/gtest.h"
using namespace pllee4::graph;
TEST(Astar, InvalidSetOccupiedGrid) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
EXPECT_FALSE(astar.SetOccupiedGrid({{1, 6}}));
astar.SetMapStorageSize(3, 3);
EXPECT_FALSE(astar.SetOccupiedGrid({{1, 6}}));
}
TEST(Astar, ValidSetOccupanciedGrid) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
astar.SetMapStorageSize(2, 7);
EXPECT_TRUE(astar.SetOccupiedGrid({{1, 6}}));
}
TEST(Astar, InvalidSetStartAndDestination) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
EXPECT_FALSE(astar.SetStartAndDestination({0, 0}, {4, 4}));
}
TEST(Astar, FailedToFindPath) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* |s | x | e |
* | | x | |
* | | | |
*/
astar.SetMapStorageSize(3, 3);
astar.SetOccupiedGrid({{1, 2}, {1, 1}});
astar.SetStartAndDestination({0, 0}, {4, 4});
EXPECT_FALSE(astar.FindPath());
EXPECT_FALSE(astar.GetPath().has_value());
astar.SetStartAndDestination({4, 4}, {2, 2});
EXPECT_FALSE(astar.FindPath());
EXPECT_FALSE(astar.GetPath().has_value());
}
TEST(Astar, FindPath) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* |s | x | e |
* | | x | |
* | | | |
*/
astar.SetMapStorageSize(3, 3);
astar.SetOccupiedGrid({{1, 2}, {1, 1}});
astar.SetStartAndDestination({0, 2}, {2, 2});
EXPECT_TRUE(astar.FindPath());
}
TEST(Astar, GetPath) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* |s | x | e |
* | | x | |
* | | | |
*/
astar.SetMapStorageSize(3, 3);
astar.SetOccupiedGrid({{1, 2}, {1, 1}});
astar.SetStartAndDestination({0, 2}, {2, 2});
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
std::vector<Coordinate> expected = {{0, 2}, {0, 1}, {0, 0}, {1, 0},
{2, 0}, {2, 1}, {2, 2}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
}
TEST(Astar, GetPathWithSettingOfSameStartAndDestination) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* |s | x | e |
* | | x | |
* | | | |
*/
astar.SetMapStorageSize(3, 3);
astar.SetOccupiedGrid({{1, 2}, {1, 1}});
astar.SetStartAndDestination({0, 2}, {2, 2});
// no clearing of occupied grid
astar.SetStartAndDestination({0, 2}, {2, 2});
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
std::vector<Coordinate> expected = {{0, 2}, {0, 1}, {0, 0}, {1, 0},
{2, 0}, {2, 1}, {2, 2}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
astar.SetStartAndDestination({0, 2}, {2, 2});
// same start and destination, can get back previous path without finding
EXPECT_TRUE(astar.GetPath().has_value());
astar.SetStartAndDestination({0, 1}, {2, 2});
// different start and destination, can't get path without finding
EXPECT_FALSE(astar.GetPath().has_value());
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
}
TEST(Astar, GetPathAfterReset) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* |s | x | e |
* | | x | |
* | | | |
*/
astar.SetMapStorageSize(3, 3);
astar.SetOccupiedGrid({{1, 2}, {1, 1}});
astar.SetStartAndDestination({0, 2}, {2, 2});
// internally clear path and occupied
astar.Reset();
astar.FindPath();
EXPECT_FALSE(astar.GetPath().has_value());
astar.SetStartAndDestination({0, 2}, {2, 2});
EXPECT_FALSE(astar.GetPath().has_value());
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
// found path without occupied_grid
std::vector<Coordinate> expected = {{0, 2}, {1, 2}, {2, 2}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
}
TEST(Astar, GetPath8Dir) {
Astar astar{MotionConstraintType::CARDINAL_ORDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* |s | x | e |
* | | x | |
* | | | |
*/
astar.SetMapStorageSize(3, 3);
astar.SetOccupiedGrid({{1, 2}, {1, 1}});
astar.SetStartAndDestination({0, 2}, {2, 2});
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
std::vector<Coordinate> expected = {{0, 2}, {0, 1}, {1, 0}, {2, 1}, {2, 2}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
}
TEST(Astar, GetPathWithRevisit) {
Astar astar{MotionConstraintType::CARDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* | | | |
* | s | x | |
* | | | |
* | | | e |
*/
astar.SetMapStorageSize(3, 4);
astar.SetOccupiedGrid({{1, 2}});
astar.SetStartAndDestination({0, 2}, {2, 0});
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
std::vector<Coordinate> expected = {{0, 2}, {0, 1}, {0, 0}, {1, 0}, {2, 0}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
}
TEST(Astar, GetPath8DirWithRevisit) {
Astar astar{MotionConstraintType::CARDINAL_ORDINAL_MOTION};
/**
* s = start, e = end, x = occupied
* | | | |
* | s | x | |
* | | | |
* | | | e |
*/
astar.SetMapStorageSize(3, 4);
astar.SetOccupiedGrid({{1, 2}});
astar.SetStartAndDestination({0, 2}, {2, 0});
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
std::vector<Coordinate> expected = {{0, 2}, {1, 1}, {2, 0}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
}
TEST(Astar, GetPath8DirWithRevisitWithAnyMotion) {
Astar astar{MotionConstraintType::ANY_MOTION};
/**
* s = start, e = end, x = occupied
* | | | |
* | s | x | |
* | | | |
* | | | e |
*/
astar.SetMapStorageSize(3, 4);
astar.SetOccupiedGrid({{1, 2}});
astar.SetStartAndDestination({0, 2}, {2, 0});
astar.FindPath();
EXPECT_TRUE(astar.GetPath().has_value());
const auto path = astar.GetPath().value();
std::vector<Coordinate> expected = {{0, 2}, {1, 1}, {2, 0}};
EXPECT_TRUE(std::equal(std::begin(path), std::end(path), std::begin(expected),
std::end(expected)));
}