29 lines
827 B
C++
29 lines
827 B
C++
#include <gtest/gtest.h>
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#include "costmap_compressor/CostmapCompressor.hpp"
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#include <rclcpp/time.hpp>
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#include <iostream>
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TEST(costmap_compressor_test, compress)
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{
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nav2_msgs::msg::Costmap original;
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original.header.frame_id = "odom";
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original.header.stamp = rclcpp::Time(1751818062, 0);
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original.metadata.resolution = 1.0;
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original.metadata.size_x = 20.0;
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original.metadata.size_y = 20.0;
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original.data.resize(original.metadata.size_x*original.metadata.size_y, 0);
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const costmap_compressor::msg::CompressedCostmap compressed = costmap_compressor::compress(original);
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const nav2_msgs::msg::Costmap uncompressed = costmap_compressor::uncompress(compressed);
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EXPECT_TRUE(true);
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}
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int main(int argc, char ** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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