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体验新版 GitCode,发现更多精彩内容 >>
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6709c69f
编写于
10月 09, 2017
作者:
Z
Zhang Liangliang
提交者:
Yifei Jiang
10月 09, 2017
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差异文件
Planning: added a regularization test in spline_2d_kernel.
上级
af35f555
变更
2
隐藏空白更改
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Showing
2 changed file
with
67 addition
and
0 deletion
+67
-0
modules/planning/math/smoothing_spline/BUILD
modules/planning/math/smoothing_spline/BUILD
+12
-0
modules/planning/math/smoothing_spline/spline_2d_kernel_test.cc
...s/planning/math/smoothing_spline/spline_2d_kernel_test.cc
+55
-0
未找到文件。
modules/planning/math/smoothing_spline/BUILD
浏览文件 @
6709c69f
...
...
@@ -308,4 +308,16 @@ cc_test(
],
)
cc_test
(
name
=
"spline_2d_kernel_test"
,
size
=
"small"
,
srcs
=
[
"spline_2d_kernel_test.cc"
,
],
deps
=
[
":spline_2d_kernel"
,
"@gtest//:main"
,
],
)
cpplint
()
modules/planning/math/smoothing_spline/spline_2d_kernel_test.cc
0 → 100644
浏览文件 @
6709c69f
/******************************************************************************
* 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.
*****************************************************************************/
/**
* @file
**/
#include "modules/planning/math/smoothing_spline/spline_2d_kernel.h"
#include "glog/logging.h"
#include "gtest/gtest.h"
namespace
apollo
{
namespace
planning
{
TEST
(
Spline2dKernel
,
add_regularization
)
{
std
::
vector
<
double
>
x_knots
=
{
0.0
,
1.0
,
2.0
,
3.0
};
int32_t
spline_order
=
4
;
Spline2dKernel
kernel
(
x_knots
,
spline_order
);
kernel
.
AddRegularization
(
0.2
);
std
::
cout
<<
kernel
.
kernel_matrix
()
<<
std
::
endl
;
for
(
int
i
=
0
;
i
<
kernel
.
kernel_matrix
().
rows
();
++
i
)
{
for
(
int
j
=
0
;
j
<
kernel
.
kernel_matrix
().
cols
();
++
j
)
{
if
(
i
==
j
)
{
EXPECT_DOUBLE_EQ
(
kernel
.
kernel_matrix
()(
i
,
j
),
0.4
);
}
else
{
EXPECT_DOUBLE_EQ
(
kernel
.
kernel_matrix
()(
i
,
j
),
0.0
);
}
}
}
for
(
int
i
=
0
;
i
<
kernel
.
offset
().
rows
();
++
i
)
{
for
(
int
j
=
0
;
j
<
kernel
.
offset
().
cols
();
++
j
)
{
EXPECT_DOUBLE_EQ
(
kernel
.
offset
()(
i
,
j
),
0.0
);
}
}
}
}
// namespace planning
}
// namespace apollo
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