Added prediction util unit test

modules/prediction/common/BUILD

@@ -21,6 +21,16 @@ cc_library(
     ],
 )
 
+cc_test(
+    name = "prediction_util_test",
+    size = "small",
+    srcs = ["prediction_util_test.cc"],
+    deps = [
+        "//modules/prediction/common:prediction_util",
+        "@gtest//:main",
+    ]
+)
+
 cc_library(
     name = "prediction_map",
     srcs = ["prediction_map.cc"],

modules/prediction/common/prediction_util_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 "gtest/gtest.h"
+
+#include "modules/prediction/common/prediction_util.h"
+
+namespace apollo {
+namespace prediction {
+namespace util {
+
+using ::apollo::common::TrajectoryPoint;
+
+TEST(PredictionUtilTest, normalize) {
+  double value = 3.0;
+  double mean = 2.0;
+  double std_dev = 0.01;
+  EXPECT_DOUBLE_EQ(Normalize(value, mean, std_dev), 99.999999);
+}
+
+TEST(PredictionUtilTest, relu) {
+  double value = 2.0;
+  EXPECT_DOUBLE_EQ(Relu(value), 2.0);
+
+  value = -3.0;
+  EXPECT_DOUBLE_EQ(Relu(value), 0.0);
+}
+
+TEST(PredictionUtilTest, sigmoid) {
+  double value = 2.0;
+  EXPECT_DOUBLE_EQ(Sigmoid(value), 0.88079707797788231);
+}
+
+TEST(PredictionUtilTest, solvable_quadratic_equation) {
+  std::vector<double> coefficients = {5.0, 6.0, 1.0};
+  std::pair<double, double> roots;
+  EXPECT_EQ(SolveQuadraticEquation(coefficients, &roots), 0);
+  EXPECT_DOUBLE_EQ(roots.first, -0.2);
+  EXPECT_DOUBLE_EQ(roots.second, -1.0);
+}
+
+TEST(PredictionUtilTest, non_solvable_quadratic_equation) {
+  std::vector<double> coefficients = {5.0, 2.0, 1.0};
+  std::pair<double, double> roots;
+  EXPECT_EQ(SolveQuadraticEquation(coefficients, &roots), -1);
+}
+
+TEST(PredictionUtilTest, translate_point) {
+  double x = 1.0;
+  double y = 2.0;
+  TrajectoryPoint trajectory_point;
+  TranslatePoint(x, y, &trajectory_point);
+  EXPECT_DOUBLE_EQ(trajectory_point.path_point().x(), 1.0);
+  EXPECT_DOUBLE_EQ(trajectory_point.path_point().y(), 2.0);
+}
+
+}  // namespace util
+}  // namespace prediction
+}  // namespace apollo