view/rangesCtrl/TestScipHandler.cpp

/*!
  \file
  \brief ScipHandler ‚ÌƒeƒXƒg

  \author Satofumi KAMIMURA

  $Id$
*/

#include "TestScipHandler.h"
#include "ScipHandler.h"
#include "SensorParameter.h"
#include "MathUtils.h"


CPPUNIT_TEST_SUITE_REGISTRATION(ScipHandlerTest);
CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(ScipHandlerTest, "ScipHandlerTest");

using namespace beego;


void ScipHandlerTest::setUp(void) {

  SensorParameter parameter;
  parameter.model = "URG-04LX(Hokuyo AUtomatic Co. Ltd.)";
  parameter.distance_min = 20;
  parameter.distance_max = 5600;
  parameter.area_total = 1024;
  parameter.area_min = 44;
  parameter.area_max = 725;
  parameter.area_front = 384;
  parameter.scan_rpm = 600;

  scip.setSensorParameter(&parameter);
}


static const double expect_radian = (384.0 - 44)/1024.0 * 2.0* M_PI;

void ScipHandlerTest::index2radTest(void) {

  double radian = scip.index2rad(384);
  CPPUNIT_ASSERT_EQUAL(0.0, radian);

  radian = scip.index2rad(44);
  CPPUNIT_ASSERT_EQUAL(-expect_radian, radian);

  radian = scip.index2rad(725 - 1);
  CPPUNIT_ASSERT_EQUAL(+expect_radian, radian);
}


void ScipHandlerTest::rad2indexTest(void) {

  int index = scip.rad2index(0.0);
  CPPUNIT_ASSERT_EQUAL(384, index);

  index = scip.rad2index(-expect_radian);
  CPPUNIT_ASSERT_EQUAL(44, index);

  index = scip.rad2index(+expect_radian);
  CPPUNIT_ASSERT_EQUAL(725 - 1, index);
}