From a763fd0b04c19f95d057b693dd7bc0623e00dbd1 Mon Sep 17 00:00:00 2001
From: Lucas Stauder <git@lucas-stauder.de>
Date: Wed, 5 Feb 2025 11:12:28 +0000
Subject: [PATCH] WiSe 2024/25
---
CMakeLists.txt | 45 +++++++++++------
src/drvpath.cpp | 2 +-
src/{drvpath.h => drvpath.hpp} | 0
src/drvpath.test-private.cpp | 9 ++--
src/drvpath.test-public.cpp | 92 +++++++++-------------------------
src/main.cpp | 2 +-
src/testhelper.cpp | 51 +++++++++++++++++++
src/testhelper.hpp | 19 +++++++
8 files changed, 131 insertions(+), 89 deletions(-)
rename src/{drvpath.h => drvpath.hpp} (100%)
create mode 100644 src/testhelper.cpp
create mode 100644 src/testhelper.hpp
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 50ea1ec..e8a6cdd 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,36 +6,49 @@ set(CMAKE_CXX_STANDARD 14)
add_executable(Hausuebung3
src/main.cpp
src/drvpath.cpp
- src/drvpath.h
+ src/drvpath.hpp
)
target_include_directories(Hausuebung3 PRIVATE 3rdparty/eigen-3.4.0)
-# Fetch Catch2
+# Fetch GTest
Include(FetchContent)
FetchContent_Declare(
- Catch2
- GIT_REPOSITORY https://github.com/catchorg/Catch2.git
- GIT_TAG v3.4.0
+ googletest
+ GIT_REPOSITORY https://github.com/google/googletest.git
+ GIT_TAG v1.15.2
)
-FetchContent_MakeAvailable(Catch2)
+
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(googletest)
enable_testing()
+
+
add_executable(test_drvpath_public
src/drvpath.cpp
- src/drvpath.h
+ src/drvpath.hpp
+ src/testhelper.cpp
+ src/testhelper.hpp
src/drvpath.test-public.cpp
)
-add_executable(test_drvpath_all
+
+add_executable(test_drvpath_private
src/drvpath.cpp
- src/drvpath.h
- src/drvpath.test-public.cpp
+ src/drvpath.hpp
+ src/testhelper.cpp
+ src/testhelper.hpp
src/drvpath.test-private.cpp
)
-target_link_libraries(test_drvpath_public PRIVATE Catch2::Catch2WithMain)
-target_link_libraries(test_drvpath_all PRIVATE Catch2::Catch2WithMain)
+
+target_link_libraries(test_drvpath_public PRIVATE GTest::gtest_main)
+target_link_libraries(test_drvpath_private PRIVATE GTest::gtest_main)
target_include_directories(test_drvpath_public PRIVATE src 3rdparty/eigen-3.4.0)
-target_include_directories(test_drvpath_all PRIVATE src 3rdparty/eigen-3.4.0)
+target_include_directories(test_drvpath_private PRIVATE src 3rdparty/eigen-3.4.0)
add_test(test_drvpath_public ./test_drvpath_public)
-add_test(test_drvpath_all ./test_drvpath_all)
-set_property(TEST test_drvpath_public PROPERTY ENVIRONMENT "CTEST_OUTPUT_ON_FAILURE=1")
-set_property(TEST test_drvpath_all PROPERTY ENVIRONMENT "CTEST_OUTPUT_ON_FAILURE=1")
+add_test(test_drvpath_private ./test_drvpath_private)
+
+include(GoogleTest)
+
+gtest_discover_tests(test_drvpath_public)
+gtest_discover_tests(test_drvpath_private)
+
diff --git a/src/drvpath.cpp b/src/drvpath.cpp
index cde5a20..13a6261 100644
--- a/src/drvpath.cpp
+++ b/src/drvpath.cpp
@@ -1,4 +1,4 @@
-#include "drvpath.h"
+#include "drvpath.hpp"
#include <cmath>
diff --git a/src/drvpath.h b/src/drvpath.hpp
similarity index 100%
rename from src/drvpath.h
rename to src/drvpath.hpp
diff --git a/src/drvpath.test-private.cpp b/src/drvpath.test-private.cpp
index 1bd2728..cb04f88 100644
--- a/src/drvpath.test-private.cpp
+++ b/src/drvpath.test-private.cpp
@@ -1,6 +1,7 @@
-#include "drvpath.h"
+#include "drvpath.hpp"
-#include <catch2/catch_test_macros.hpp>
-#include <catch2/matchers/catch_matchers_vector.hpp>
+#include <gtest/gtest.h>
-TEST_CASE("testcase 1 private") { REQUIRE(false); }
+TEST(DrvPathPrivatTest,Example) {
+ FAIL();
+}
diff --git a/src/drvpath.test-public.cpp b/src/drvpath.test-public.cpp
index f76575d..b4d0b22 100644
--- a/src/drvpath.test-public.cpp
+++ b/src/drvpath.test-public.cpp
@@ -1,48 +1,12 @@
-#include "drvpath.h"
+#include "drvpath.hpp"
-#include <catch2/catch_test_macros.hpp>
-#include <catch2/matchers/catch_matchers_vector.hpp>
+#include <gtest/gtest.h>
-bool are_point_vectors_almost_equal(const std::vector<Point>& v1,
- const std::vector<Point>& v2,
- double tolerance) {
- if (v1.size() != v2.size()) {
- return false;
- }
+#include "testhelper.hpp"
- for (size_t i = 0; i < v1.size(); ++i) {
- const double dx = v1[i].x - v2[i].x;
- const double dy = v1[i].y - v2[i].y;
- if ((std::abs(dx) > tolerance) || (std::abs(dy) > tolerance)) {
- return false;
- }
- }
- return true;
-}
-
-std::vector<double> flat_matrix(const Eigen::MatrixXd& m) {
- const int rows = m.rows();
- const int cols = m.cols();
-
- std::vector<double> res{};
- res.reserve(rows * cols);
-
- for (int r = 0; r < rows; ++r) {
- for (int c = 0; c < cols; ++c) {
- res.push_back(m(r, c));
- }
- }
-
- return res;
-}
-
-std::vector<double> flat_vector(const Eigen::VectorXd& v) {
- return {v.begin(), v.end()};
-}
-
-TEST_CASE("get_car_points") {
+TEST(DrvPathPublicTest,get_car_points) {
const std::vector<Point> lane{{2.0, -2.0}, {3.0, -2.0}, {4.5, -1.75},
{5.5, -1.5}, {6.5, -1.0}, {8, -0.25},
{10.0, 0.75}, {11.0, 1.5}};
@@ -58,10 +22,10 @@ TEST_CASE("get_car_points") {
const std::vector<Point> path = get_car_path_points(lane, 1.5);
- REQUIRE(are_point_vectors_almost_equal(path, path_sol, 1e-6));
+ EXPECT_TRUE(are_point_vectors_almost_equal(path, path_sol, 1e-6));
}
-TEST_CASE("get_direct_path_length") {
+TEST(DrvPathPublicTest,get_direct_path_length) {
const std::vector<Point> path{{0.0, 0.0},
{2.5, -0.5},
{3.5034015190419643, -0.3954091142517844},
@@ -81,11 +45,10 @@ TEST_CASE("get_direct_path_length") {
10.275392402085236};
const std::vector<double> path_length = get_direct_path_length(path);
- REQUIRE_THAT(path_length,
- Catch::Matchers::Approx(path_length_sol).margin(1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(path_length, path_length_sol, 1e-6));
}
-TEST_CASE("normalize_path_length") {
+TEST(DrvPathPublicTest,normalize_path_length) {
const std::vector<double> path_length{0.0,
2.5495097567963922,
3.5583476336613113,
@@ -106,23 +69,24 @@ TEST_CASE("normalize_path_length") {
const std::vector<double> p = normalize_path_length(path_length, 2.0);
- REQUIRE_THAT(p, Catch::Matchers::Approx(p_sol).margin(1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(p, p_sol, 1e-6));
}
-TEST_CASE("get_coordinate") {
+TEST(DrvPathPublicTest,get_coordinate) {
const std::vector<Point> lane{{2.0, -2.0}, {3.0, -2.0}, {4.5, -1.75},
{5.5, -1.5}, {6.5, -1.0}, {8, -0.25},
{10.0, 0.75}, {11.0, 1.5}};
const std::vector<double> x = get_coordinate(lane, 0);
const std::vector<double> y = get_coordinate(lane, 1);
+ const std::vector<double> x_sol{2, 3, 4.5, 5.5, 6.5, 8, 10, 11};
+ const std::vector<double> y_sol{-2, -2, -1.75, -1.5, -1, -0.25, 0.75, 1.5};
- REQUIRE(x == std::vector<double>{2, 3, 4.5, 5.5, 6.5, 8, 10, 11});
- REQUIRE(y ==
- std::vector<double>{-2, -2, -1.75, -1.5, -1, -0.25, 0.75, 1.5});
+ EXPECT_TRUE(are_double_vectors_almost_equal(x, x_sol, 1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(y, y_sol, 1e-6));
}
-TEST_CASE("get_objective_Psi_eta") {
+TEST(DrvPathPublicTest,get_objective_Psi_eta) {
const std::vector<double> p{0.0,
0.49623598925117596,
0.6925959602164095,
@@ -217,13 +181,11 @@ TEST_CASE("get_objective_Psi_eta") {
const auto psi_eta = get_objective_Psi_eta(p, x);
- REQUIRE_THAT(flat_matrix(psi_eta.first),
- Catch::Matchers::Approx(psi_sol).margin(1e-6));
- REQUIRE_THAT(flat_vector(psi_eta.second),
- Catch::Matchers::Approx(eta_sol).margin(1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(flat_matrix(psi_eta.first), psi_sol, 1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(flat_vector(psi_eta.second), eta_sol, 1e-6));
}
-TEST_CASE("get_constraints_A_b") {
+TEST(DrvPathPublicTest,get_constraints_A_b) {
const std::vector<double> a_sol{1.0, 1.0, 1.0, 1.0, 0.0, 0.0, 0.0, -1.0,
3.0, 2.0, 1.0, 0.0, 0.0, 0.0, -1.0, 0.0,
6.0, 2.0, 0.0, 0.0, 0.0, -2.0, 0.0, 0.0,
@@ -232,13 +194,11 @@ TEST_CASE("get_constraints_A_b") {
const auto a_b = get_constraints_A_b();
- REQUIRE_THAT(flat_matrix(a_b.first),
- Catch::Matchers::Approx(a_sol).margin(1e-6));
- REQUIRE_THAT(flat_vector(a_b.second),
- Catch::Matchers::Approx(b_sol).margin(1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(flat_matrix(a_b.first), a_sol, 1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(flat_vector(a_b.second), b_sol, 1e-6));
}
-TEST_CASE("get_quadprog_L_r") {
+TEST(DrvPathPublicTest,get_quadprog_L_r) {
const Eigen::MatrixXd psi{{0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0},
{0.12219819027609326, 0.24625015702809322,
0.49623598925117596, 1.0, 0.0, 0.0, 0.0, 0.0},
@@ -422,13 +382,11 @@ TEST_CASE("get_quadprog_L_r") {
const auto l_r = get_quadprog_L_r(psi, eta, a, b);
- REQUIRE_THAT(flat_matrix(l_r.first),
- Catch::Matchers::Approx(l_sol).margin(1e-6));
- REQUIRE_THAT(flat_vector(l_r.second),
- Catch::Matchers::Approx(r_sol).margin(1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(flat_matrix(l_r.first), l_sol, 1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(flat_vector(l_r.second), r_sol, 1e-6));
}
-TEST_CASE("get_path_spline") {
+TEST(DrvPathPublicTest,get_path_spline) {
const std::vector<double> p{0.0,
0.49623598925117596,
0.6925959602164095,
@@ -455,5 +413,5 @@ TEST_CASE("get_path_spline") {
const std::vector<double> theta = get_path_spline(p, x);
- REQUIRE_THAT(theta, Catch::Matchers::Approx(theta_sol).margin(1e-6));
+ EXPECT_TRUE(are_double_vectors_almost_equal(theta, theta_sol, 1e-6));
}
diff --git a/src/main.cpp b/src/main.cpp
index 9b2832b..b0c798d 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,6 +1,6 @@
#include <iostream>
-#include "drvpath.h"
+#include "drvpath.hpp"
int main() {
std::vector<Point> lane{{2.0, -2.0}, {3.0, -2.0}, {4.5, -1.75},
diff --git a/src/testhelper.cpp b/src/testhelper.cpp
new file mode 100644
index 0000000..5e96a0d
--- /dev/null
+++ b/src/testhelper.cpp
@@ -0,0 +1,51 @@
+#include "testhelper.hpp"
+
+bool are_point_vectors_almost_equal(const std::vector<Point>& v1,
+ const std::vector<Point>& v2,
+ double tolerance) {
+ if (v1.size() != v2.size()) {
+ return false;
+ }
+
+ for (size_t i = 0; i < v1.size(); ++i) {
+ const double dx = v1[i].x - v2[i].x;
+ const double dy = v1[i].y - v2[i].y;
+
+ if ((std::abs(dx) > tolerance) || (std::abs(dy) > tolerance)) {
+ return false;
+ }
+ }
+
+ return true;
+}
+
+std::vector<double> flat_matrix(const Eigen::MatrixXd& m) {
+ const int rows = m.rows();
+ const int cols = m.cols();
+
+ std::vector<double> res{};
+ res.reserve(rows * cols);
+
+ for (int r = 0; r < rows; ++r) {
+ for (int c = 0; c < cols; ++c) {
+ res.push_back(m(r, c));
+ }
+ }
+
+ return res;
+}
+
+std::vector<double> flat_vector(const Eigen::VectorXd& v) {
+ return {v.begin(), v.end()};
+}
+bool are_double_vectors_almost_equal(const std::vector<double>& v1, const std::vector<double>& v2, double tolerance) {
+ if (v1.size() != v2.size()) {
+ return false;
+ }
+ for (size_t i = 0; i < v1.size(); ++i) {
+ if (std::abs(v1[i] - v2[i]) > tolerance) {
+ return false;
+ }
+ }
+ return true;
+}
\ No newline at end of file
diff --git a/src/testhelper.hpp b/src/testhelper.hpp
new file mode 100644
index 0000000..f68f4cd
--- /dev/null
+++ b/src/testhelper.hpp
@@ -0,0 +1,19 @@
+#ifndef PROGAUT_HAUSUEBUNG3_TESTHELPER_HPP
+#define PROGAUT_HAUSUEBUNG3_TESTHELPER_HPP
+
+#include <vector>
+
+#include "Eigen/Dense"
+#include "drvpath.hpp"
+
+bool are_point_vectors_almost_equal(const std::vector<Point>& v1,
+ const std::vector<Point>& v2,
+ double tolerance);
+
+std::vector<double> flat_matrix(const Eigen::MatrixXd& m);
+
+std::vector<double> flat_vector(const Eigen::VectorXd& v);
+
+bool are_double_vectors_almost_equal(const std::vector<double>& v1, const std::vector<double>& v2, double tolerance);
+
+#endif // PROGAUT_HAUSUEBUNG3_TESTHELPER_HPP
--
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