Added road graph unit test

modules/prediction/common/BUILD

@@ -48,4 +48,21 @@ cc_library(
     ],
 )
 
+cc_test(
+    name = "road_graph_test",
+    size = "small",
+    srcs = ["road_graph_test.cc"],
+    data = [
+        "//modules/prediction:prediction_data",
+        "//modules/prediction:prediction_testdata",
+    ],
+    deps = [
+        "//modules/prediction/common:road_graph",
+        "//modules/prediction/common:prediction_gflags",
+        "//modules/prediction/common:prediction_map",
+        "//modules/common/math:math_utils",
+        "@gtest//:main",
+    ]
+)
+
 cpplint()

modules/prediction/common/road_graph_test.cc

+/******************************************************************************
+ * Copyright 2017 The Apollo Authors. All Rights Reserved.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *****************************************************************************/
+
+#include "modules/prediction/common/road_graph.h"
+
+#include <string>
+
+#include "gtest/gtest.h"
+
+#include "modules/prediction/common/prediction_gflags.h"
+#include "modules/prediction/common/prediction_map.h"
+#include "modules/prediction/proto/lane_graph.pb.h"
+#include "modules/common/math/math_utils.h"
+
+namespace apollo {
+namespace prediction {
+
+using ::apollo::common::ErrorCode;
+
+class RoadGraphTest : public ::testing::Test {
+ public:
+  virtual void SetUp() {
+    FLAGS_map_file = "modules/prediction/testdata/kml_map.bin";
+    map_ = PredictionMap::instance();
+  }
+
+ protected:
+  PredictionMap *map_;
+};
+
+TEST_F(RoadGraphTest, General) {
+  auto lane = map_->LaneById("l9");
+  EXPECT_TRUE(lane != nullptr);
+
+  double start_s = 99.0;
+  double length = 100.0;
+  RoadGraph road_graph(start_s, length, lane);
+
+  LaneGraph lane_graph;
+  EXPECT_EQ(road_graph.BuildLaneGraph(&lane_graph), ErrorCode::OK);
+  EXPECT_EQ(1, lane_graph.lane_sequence_size());
+  EXPECT_EQ(3, lane_graph.lane_sequence(0).lane_segment_size());
+  EXPECT_EQ("l9", lane_graph.lane_sequence(0).lane_segment(0).lane_id());
+  EXPECT_EQ("l18", lane_graph.lane_sequence(0).lane_segment(1).lane_id());
+  EXPECT_EQ("l21", lane_graph.lane_sequence(0).lane_segment(2).lane_id());
+
+  for (const auto &lane_sequence : lane_graph.lane_sequence()) {
+    double total_length = 0.0;
+    for (const auto &lane_segment : lane_sequence.lane_segment()) {
+      total_length += (lane_segment.end_s() - lane_segment.start_s());
+    }
+    EXPECT_DOUBLE_EQ(length, total_length);
+  }
+}
+
+TEST_F(RoadGraphTest, NegativeStartS) {
+  auto lane = map_->LaneById("l9");
+  EXPECT_TRUE(lane != nullptr);
+
+  double start_s = -10.0;
+  double length = 50.0;
+  RoadGraph road_graph(start_s, length, lane);
+
+  LaneGraph lane_graph;
+  EXPECT_EQ(road_graph.BuildLaneGraph(&lane_graph), ErrorCode::OK);
+  EXPECT_EQ(1, lane_graph.lane_sequence_size());
+  EXPECT_EQ(1, lane_graph.lane_sequence(0).lane_segment_size());
+  EXPECT_EQ("l9", lane_graph.lane_sequence(0).lane_segment(0).lane_id());
+
+  for (const auto &lane_sequence : lane_graph.lane_sequence()) {
+    double total_length = 0.0;
+    for (const auto &lane_segment : lane_sequence.lane_segment()) {
+      total_length += (lane_segment.end_s() - lane_segment.start_s());
+    }
+    EXPECT_DOUBLE_EQ(length, total_length);
+  }
+}
+
+TEST_F(RoadGraphTest, LengthLongerThanEnd) {
+  auto lane = map_->LaneById("l22");
+  EXPECT_TRUE(lane != nullptr);
+
+  double start_s = 200.0;
+  double length = 200.0;
+  RoadGraph road_graph(start_s, length, lane);
+
+  LaneGraph lane_graph;
+  EXPECT_EQ(road_graph.BuildLaneGraph(&lane_graph), ErrorCode::OK);
+  EXPECT_EQ(1, lane_graph.lane_sequence_size());
+  EXPECT_EQ(3, lane_graph.lane_sequence(0).lane_segment_size());
+  EXPECT_EQ("l22", lane_graph.lane_sequence(0).lane_segment(0).lane_id());
+  EXPECT_EQ("l100", lane_graph.lane_sequence(0).lane_segment(1).lane_id());
+  EXPECT_EQ("l97", lane_graph.lane_sequence(0).lane_segment(2).lane_id());
+
+  for (const auto &lane_sequence : lane_graph.lane_sequence()) {
+    double total_length = 0.0;
+    for (const auto &lane_segment : lane_sequence.lane_segment()) {
+      total_length += (lane_segment.end_s() - lane_segment.start_s());
+    }
+    EXPECT_TRUE(::apollo::common::math::DoubleCompare(
+        total_length, length) < 0);
+  }
+}
+
+TEST_F(RoadGraphTest, MultipleLaneSequence) {
+  auto lane = map_->LaneById("l20");
+  EXPECT_TRUE(lane != nullptr);
+
+  double start_s = 200.0;
+  double length = 200.0;
+  RoadGraph road_graph(start_s, length, lane);
+
+  LaneGraph lane_graph;
+  EXPECT_EQ(road_graph.BuildLaneGraph(&lane_graph), ErrorCode::OK);
+  EXPECT_EQ(2, lane_graph.lane_sequence_size());
+  EXPECT_EQ(3, lane_graph.lane_sequence(0).lane_segment_size());
+  EXPECT_EQ(3, lane_graph.lane_sequence(1).lane_segment_size());
+  EXPECT_EQ("l20", lane_graph.lane_sequence(0).lane_segment(0).lane_id());
+  EXPECT_EQ("l31", lane_graph.lane_sequence(0).lane_segment(1).lane_id());
+  EXPECT_EQ("l29", lane_graph.lane_sequence(0).lane_segment(2).lane_id());
+  EXPECT_EQ("l20", lane_graph.lane_sequence(1).lane_segment(0).lane_id());
+  EXPECT_EQ("l98", lane_graph.lane_sequence(1).lane_segment(1).lane_id());
+  EXPECT_EQ("l95", lane_graph.lane_sequence(1).lane_segment(2).lane_id());
+}
+
+}  // namespace prediction
+}  // namespace apollo