From c462dbb2693e7771a22c6132b6b15d76a2b5ad51 Mon Sep 17 00:00:00 2001
From: Zhang Liangliang <zhangliangliang@baidu.com>
Date: Tue, 10 Oct 2017 12:05:27 -0700
Subject: [PATCH] Planning: added 2d boundary test for spline_2d_constraint.

---
 modules/planning/math/smoothing_spline/BUILD  |  12 ++
 .../spline_2d_constraint_test.cc              | 114 ++++++++++++++++++
 2 files changed, 126 insertions(+)
 create mode 100644 modules/planning/math/smoothing_spline/spline_2d_constraint_test.cc

diff --git a/modules/planning/math/smoothing_spline/BUILD b/modules/planning/math/smoothing_spline/BUILD
index 0adc83f24d..446683b854 100644
--- a/modules/planning/math/smoothing_spline/BUILD
+++ b/modules/planning/math/smoothing_spline/BUILD
@@ -320,4 +320,16 @@ cc_test(
     ],
 )
 
+cc_test(
+    name = "spline_2d_constraint_test",
+    size = "small",
+    srcs = [
+        "spline_2d_constraint_test.cc",
+    ],
+    deps = [
+        ":spline_2d_constraint",
+        "@gtest//:main",
+    ],
+)
+
 cpplint()
diff --git a/modules/planning/math/smoothing_spline/spline_2d_constraint_test.cc b/modules/planning/math/smoothing_spline/spline_2d_constraint_test.cc
new file mode 100644
index 0000000000..03fea71548
--- /dev/null
+++ b/modules/planning/math/smoothing_spline/spline_2d_constraint_test.cc
@@ -0,0 +1,114 @@
+/******************************************************************************
+ * 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_constraint.h"
+
+#include "glog/logging.h"
+#include "gtest/gtest.h"
+
+namespace apollo {
+namespace planning {
+
+using apollo::common::math::Vec2d;
+
+TEST(Spline2dConstraint, add_boundary_01) {
+  std::vector<double> x_knots = {0.0, 1.0};
+  int32_t spline_order = 4;
+  Spline2dConstraint constraint(x_knots, spline_order);
+
+  std::vector<double> t_coord = {0.0};
+  std::vector<double> angle = {0.0};
+  std::vector<Vec2d> ref_point;
+  ref_point.emplace_back(Vec2d(0.0, 0.0));
+  std::vector<double> longitidinal_bound = {1.0};
+  std::vector<double> lateral_bound = {2.0};
+
+  constraint.Add2dBoundary(t_coord, angle, ref_point, longitidinal_bound,
+                           lateral_bound);
+  const auto mat = constraint.inequality_constraint().constraint_matrix();
+  const auto boundary =
+      constraint.inequality_constraint().constraint_boundary();
+
+  // clang-format off
+  Eigen::MatrixXd ref_mat = Eigen::MatrixXd::Zero(4, 8);
+  ref_mat <<
+     -0, -0,  -0,  -0,            1,  0,  0,  0,
+      0,  0,   0,   0,           -1, -0, -0, -0,
+      1,  0,   0,   0,  6.12323e-17,  0,  0,  0,
+     -1, -0,  -0,  -0, -6.12323e-17, -0, -0, -0;
+  // clang-format on
+
+  for (int i = 0; i < mat.rows(); ++i) {
+    for (int j = 0; j < mat.cols(); ++j) {
+      EXPECT_NEAR(mat(i, j), ref_mat(i, j), 1e-6);
+    }
+  }
+
+  Eigen::MatrixXd ref_boundary = Eigen::MatrixXd::Zero(4, 1);
+  ref_boundary << -1.0, -1.0, -2.0, -2.0;
+
+  for (int i = 0; i < ref_boundary.rows(); ++i) {
+    EXPECT_NEAR(boundary(i, 0), ref_boundary(i, 0), 1e-5);
+  }
+}
+
+// test add boundary with non-zero angle
+TEST(Spline2dConstraint, add_boundary_02) {
+  std::vector<double> x_knots = {0.0, 1.0};
+  int32_t spline_order = 4;
+  Spline2dConstraint constraint(x_knots, spline_order);
+
+  std::vector<double> t_coord = {0.0};
+  std::vector<double> angle = {0.2};
+  std::vector<Vec2d> ref_point;
+  ref_point.emplace_back(Vec2d(0.0, 0.0));
+  std::vector<double> longitidinal_bound = {1.0};
+  std::vector<double> lateral_bound = {2.0};
+
+  constraint.Add2dBoundary(t_coord, angle, ref_point, longitidinal_bound,
+                           lateral_bound);
+  const auto mat = constraint.inequality_constraint().constraint_matrix();
+  const auto boundary =
+      constraint.inequality_constraint().constraint_boundary();
+
+  // clang-format off
+  Eigen::MatrixXd ref_mat = Eigen::MatrixXd::Zero(4, 8);
+  ref_mat <<
+    -0.198669,    -0,    -0,    -0,  0.980067,     0,     0,     0,
+     0.198669,     0,     0,     0, -0.980067,    -0,    -0,    -0,
+     0.980067,     0,     0,     0,  0.198669,     0,     0,     0,
+    -0.980067,    -0,    -0,    -0, -0.198669,    -0,    -0,    -0;
+  // clang-format on
+
+  for (int i = 0; i < mat.rows(); ++i) {
+    for (int j = 0; j < mat.cols(); ++j) {
+      EXPECT_NEAR(mat(i, j), ref_mat(i, j), 1e-6);
+    }
+  }
+
+  Eigen::MatrixXd ref_boundary = Eigen::MatrixXd::Zero(4, 1);
+  ref_boundary << -1.0, -1.0, -2.0, -2.0;
+
+  for (int i = 0; i < ref_boundary.rows(); ++i) {
+    EXPECT_NEAR(boundary(i, 0), ref_boundary(i, 0), 1e-5);
+  }
+}
+
+}  // namespace planning
+}  // namespace apollo
-- 
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