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Feature/unit tests/hdmap utils problematic #21

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Feature/unit tests/hdmap utils problematic #21

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78 changes: 78 additions & 0 deletions simulation/traffic_simulator/test/src/hdmap_utils/test_hdmap_utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -435,6 +435,40 @@ TEST(HdMapUtils, getNearbyLaneletIds_unsuccessful)
EXPECT_TRUE(lanelets.empty());
}

TEST(HdMapUtils, getNearbyLaneletIds_crosswalkIncluded)
{
auto hdmap_utils = makeHdMapUtilsInstance();

auto point = makePoint(3768.01, 73750.97);
const double distance_threshold = 0.0;
bool include_crosswalk = true;
size_t search_count = 100;
auto lanelets =
hdmap_utils.getNearbyLaneletIds(point, distance_threshold, include_crosswalk, search_count);

lanelet::Id id_crosswalk = 34399;
lanelet::Id id_road = 34633;
EXPECT_EQ(lanelets.size(), 2);
EXPECT_TRUE(std::find(lanelets.begin(), lanelets.end(), id_crosswalk) != lanelets.end());
EXPECT_TRUE(std::find(lanelets.begin(), lanelets.end(), id_road) != lanelets.end());
}

TEST(HdMapUtils, getNearbyLaneletIds_crosswalkNotIncluded)
{
auto hdmap_utils = makeHdMapUtilsInstance();

auto point = makePoint(3768.01, 73750.97);
const double distance_threshold = 0.0;
bool include_crosswalk = false;
size_t search_count = 100;
auto lanelets =
hdmap_utils.getNearbyLaneletIds(point, distance_threshold, include_crosswalk, search_count);

lanelet::Id id_road = 34633;
EXPECT_EQ(lanelets.size(), 1);
EXPECT_EQ(lanelets[0], id_road);
}

TEST(HdMapUtils, getNearbyLaneletIds_crosswalkUnsuccessful)
{
auto hdmap_utils = makeHdMapUtilsInstance();
Expand Down Expand Up @@ -1213,6 +1247,42 @@ TEST(HdMapUtils, getLaneChangeableLaneletId_shift0)
EXPECT_EQ(result_lanelet.value(), end_lanelet);
}

TEST(HdMapUtils, getPreviousLanelets_straightBefore)
{
auto hdmap_utils = makeHdMapUtilsInstance(four_track_highway_map_path);
const lanelet::Id lanelet_id = 202;

auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 50.0);

lanelet::Ids actual_previous{202, 3002185, 3002181};

EXPECT_EQ(result_previous, actual_previous);
}

TEST(HdMapUtils, getPreviousLanelets_curveBefore)
{
auto hdmap_utils = makeHdMapUtilsInstance();
const lanelet::Id lanelet_id = 34600;

auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 100.0);

lanelet::Ids actual_previous{34600, 34783, 34606, 34795, 34507};

EXPECT_EQ(result_previous, actual_previous);
}

TEST(HdMapUtils, getPreviousLanelets_notEnoughLaneletsBefore)
{
auto hdmap_utils = makeHdMapUtilsInstance(four_track_highway_map_path);
const lanelet::Id lanelet_id = 202;

auto result_previous = hdmap_utils.getPreviousLanelets(lanelet_id, 200.0);

lanelet::Ids actual_previous{202, 3002185, 3002181, 3002178};

EXPECT_EQ(result_previous, actual_previous);
}

TEST(HdMapUtils, getTrafficLightIds_correct)
{
auto hdmap_utils = makeHdMapUtilsInstance();
Expand Down Expand Up @@ -2159,6 +2229,14 @@ TEST(HdMapUtils, getStopLinePolygon_stopLine)
EXPECT_POINT_NEAR(result_stoplines_points.at(1), actual_stoplines_points.at(1), epsilon);
}

TEST(HdMapUtils, getStopLinePolygon_noStopLine)
{
auto hdmap_utils = makeHdMapUtilsInstance(crossroads_with_stoplines_map_path);
const lanelet::Id linestring_id_no_stopline{34629};

EXPECT_THROW(hdmap_utils.getStopLinePolygon(linestring_id_no_stopline), std::runtime_error);
}

TEST(HdMapUtils, getStopLinePolygon_invalidLaneletId)
{
auto hdmap_utils = makeHdMapUtilsInstance(crossroads_with_stoplines_map_path);
Expand Down