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体验新版 GitCode,发现更多精彩内容 >>
提交
58c7f77c
编写于
9月 23, 2018
作者:
K
kechxu
提交者:
Liangliang Zhang
9月 23, 2018
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差异文件
Prediction: add unit test for environment_features.cc
上级
62070328
变更
3
隐藏空白更改
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并排
Showing
3 changed file
with
125 addition
and
0 deletion
+125
-0
modules/prediction/common/BUILD
modules/prediction/common/BUILD
+12
-0
modules/prediction/common/environment_features.cc
modules/prediction/common/environment_features.cc
+2
-0
modules/prediction/common/environment_features_test.cc
modules/prediction/common/environment_features_test.cc
+111
-0
未找到文件。
modules/prediction/common/BUILD
浏览文件 @
58c7f77c
...
...
@@ -163,4 +163,16 @@ cc_library(
],
)
cc_test
(
name
=
"environment_features_test"
,
size
=
"small"
,
srcs
=
[
"environment_features_test.cc"
],
deps
=
[
":environment_features"
,
"//modules/common/proto:geometry_proto"
,
"//framework:cybertron"
,
"@gtest//:main"
,
],
)
cpplint
()
modules/prediction/common/environment_features.cc
浏览文件 @
58c7f77c
...
...
@@ -60,6 +60,8 @@ bool EnvironmentFeatures::has_ego_lane() const {
void
EnvironmentFeatures
::
reset_ego_lane
()
{
has_ego_lane_
=
false
;
ego_lane_id_
=
""
;
ego_lane_s_
=
-
1.0
;
}
void
EnvironmentFeatures
::
SetEgoLane
(
const
std
::
string
&
lane_id
,
...
...
modules/prediction/common/environment_features_test.cc
0 → 100644
浏览文件 @
58c7f77c
/******************************************************************************
* Copyright 2018 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/environment_features.h"
#include "gtest/gtest.h"
namespace
apollo
{
namespace
prediction
{
class
EnvironmentFeaturesTest
:
public
::
testing
::
Test
{
public:
void
SetUp
()
override
{}
};
TEST_F
(
EnvironmentFeaturesTest
,
EgoPosition
)
{
EnvironmentFeatures
environment_features
;
environment_features
.
set_ego_position
(
1.0
,
2.0
);
const
auto
&
ego_position
=
environment_features
.
get_ego_position
();
EXPECT_DOUBLE_EQ
(
ego_position
.
x
(),
1.0
);
EXPECT_DOUBLE_EQ
(
ego_position
.
y
(),
2.0
);
}
TEST_F
(
EnvironmentFeaturesTest
,
EgoSpeed
)
{
EnvironmentFeatures
environment_features
;
environment_features
.
set_ego_speed
(
1.0
);
EXPECT_DOUBLE_EQ
(
environment_features
.
get_ego_speed
(),
1.0
);
}
TEST_F
(
EnvironmentFeaturesTest
,
EgoAcceleration
)
{
EnvironmentFeatures
environment_features
;
environment_features
.
set_ego_acceleration
(
1.0
);
EXPECT_DOUBLE_EQ
(
environment_features
.
get_ego_acceleration
(),
1.0
);
}
TEST_F
(
EnvironmentFeaturesTest
,
EgoHeading
)
{
EnvironmentFeatures
environment_features
;
environment_features
.
set_ego_heading
(
1.0
);
EXPECT_DOUBLE_EQ
(
environment_features
.
get_ego_heading
(),
1.0
);
}
TEST_F
(
EnvironmentFeaturesTest
,
EgoLane
)
{
EnvironmentFeatures
environment_features
;
EXPECT_FALSE
(
environment_features
.
has_ego_lane
());
environment_features
.
SetEgoLane
(
"1-1"
,
1.0
);
EXPECT_TRUE
(
environment_features
.
has_ego_lane
());
auto
ego_lane
=
environment_features
.
GetEgoLane
();
EXPECT_EQ
(
ego_lane
.
first
,
"1-1"
);
EXPECT_DOUBLE_EQ
(
ego_lane
.
second
,
1.0
);
environment_features
.
reset_ego_lane
();
EXPECT_FALSE
(
environment_features
.
has_ego_lane
());
}
TEST_F
(
EnvironmentFeaturesTest
,
LeftLane
)
{
EnvironmentFeatures
environment_features
;
EXPECT_FALSE
(
environment_features
.
has_left_neighbor_lane
());
environment_features
.
SetLeftNeighborLane
(
"1-1"
,
1.0
);
EXPECT_TRUE
(
environment_features
.
has_left_neighbor_lane
());
auto
left_lane
=
environment_features
.
GetLeftNeighborLane
();
EXPECT_EQ
(
left_lane
.
first
,
"1-1"
);
EXPECT_DOUBLE_EQ
(
left_lane
.
second
,
1.0
);
environment_features
.
reset_left_neighbor_lane
();
EXPECT_FALSE
(
environment_features
.
has_left_neighbor_lane
());
}
TEST_F
(
EnvironmentFeaturesTest
,
RightLane
)
{
EnvironmentFeatures
environment_features
;
EXPECT_FALSE
(
environment_features
.
has_right_neighbor_lane
());
environment_features
.
SetRightNeighborLane
(
"1-1"
,
1.0
);
EXPECT_TRUE
(
environment_features
.
has_right_neighbor_lane
());
auto
right_lane
=
environment_features
.
GetRightNeighborLane
();
EXPECT_EQ
(
right_lane
.
first
,
"1-1"
);
EXPECT_DOUBLE_EQ
(
right_lane
.
second
,
1.0
);
environment_features
.
reset_right_neighbor_lane
();
EXPECT_FALSE
(
environment_features
.
has_right_neighbor_lane
());
}
TEST_F
(
EnvironmentFeaturesTest
,
FrontJunction
)
{
EnvironmentFeatures
environment_features
;
EXPECT_FALSE
(
environment_features
.
has_front_junction
());
environment_features
.
SetFrontJunction
(
"2-1"
,
1.0
);
EXPECT_TRUE
(
environment_features
.
has_front_junction
());
auto
junction
=
environment_features
.
GetFrontJunction
();
EXPECT_EQ
(
junction
.
first
,
"2-1"
);
EXPECT_DOUBLE_EQ
(
junction
.
second
,
1.0
);
environment_features
.
reset_front_junction
();
EXPECT_FALSE
(
environment_features
.
has_front_junction
());
}
TEST_F
(
EnvironmentFeaturesTest
,
Obstacles
)
{
EnvironmentFeatures
environment_features
;
environment_features
.
AddObstacleId
(
1
);
environment_features
.
AddObstacleId
(
2
);
EXPECT_EQ
(
environment_features
.
get_obstacle_ids
().
size
(),
2
);
}
}
// namespace prediction
}
// namespace apollo
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