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feat: add test with different elevations #35

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feat: add test with different elevations #35

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2814e8c
test with different elevations
HansOersted Dec 5, 2024
2ad378f
style(pre-commit): autofix
pre-commit-ci[bot] Dec 5, 2024
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64 changes: 26 additions & 38 deletions autoware_lanelet2_extension/test/src/test_projector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -32,52 +32,40 @@ class TestSuite : public ::testing::Test // NOLINT for gtest
TEST(TestSuite, ForwardMGRSProjection) // NOLINT for gtest
{
lanelet::projection::MGRSProjector projector;
// lat/lon in Tokyo
lanelet::GPSPoint gps_point;
gps_point.lat = 35.652832;
gps_point.lon = 139.839478;
gps_point.ele = 12.3456789;
lanelet::BasicPoint3d mgrs_point = projector.forward(gps_point);

// projected z value should not change
ASSERT_DOUBLE_EQ(mgrs_point.z(), gps_point.ele)
<< "Forward projected z value should be " << gps_point.ele;

// https://www.movable-type.co.uk/scripts/latlong-utm-mgrs.html
// round the projected value to mm since the above reference only gives value
// in mm precision
ASSERT_EQ(projector.getProjectedMGRSGrid(), "54SUE") << "Projected grid should be "
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This test is supposed to compare the return value of getProjectedMGRSGrid, which seems to be lost with the fixes in this PR.

<< "54SUE";
double rounded_x_mm = round(mgrs_point.x() * 1000) / 1000.0;
ASSERT_DOUBLE_EQ(rounded_x_mm, 94946.081) << "Forward projected x value should be " << 94946.081;
double rounded_y_mm = round(mgrs_point.y() * 1000) / 1000.0;
ASSERT_DOUBLE_EQ(rounded_y_mm, 46063.748) << "Forward projected y value should be " << 46063.748;
// different elevation values
std::vector<double> elevation_values = {
0.0, -50.0, 1000.0}; // sea level, below sea level, very high
for (const double ele : elevation_values) {
lanelet::GPSPoint gps_point;
gps_point.lat = 35.652832;
gps_point.lon = 139.839478;
gps_point.ele = ele;

lanelet::BasicPoint3d mgrs_point = projector.forward(gps_point);

ASSERT_DOUBLE_EQ(mgrs_point.z(), gps_point.ele)
<< "Forward projected z value should be " << gps_point.ele << " for elevation " << ele;
}
}

TEST(TestSuite, ReverseMGRSProjection) // NOLINT for gtest
{
lanelet::projection::MGRSProjector projector;
lanelet::BasicPoint3d mgrs_point;
mgrs_point.x() = 94946.0;
mgrs_point.y() = 46063.0;
mgrs_point.z() = 12.3456789;
std::vector<double> elevation_values = {
0.0, -50.0, 1000.0}; // sea level, below sea level, very high

projector.setMGRSCode("54SUE");
lanelet::GPSPoint gps_point = projector.reverse(mgrs_point);
for (const double ele : elevation_values) {
lanelet::BasicPoint3d mgrs_point;
mgrs_point.x() = 94946.0;
mgrs_point.y() = 46063.0;
mgrs_point.z() = ele;

// projected z value should not change
ASSERT_DOUBLE_EQ(gps_point.ele, mgrs_point.z())
<< "Reverse projected z value should be " << mgrs_point.z();
projector.setMGRSCode("54SUE");
lanelet::GPSPoint gps_point = projector.reverse(mgrs_point);

// https://www.movable-type.co.uk/scripts/latlong-utm-mgrs.html
// round the projected value since the above reference only gives value up to
// precision of 1e-8
double rounded_lat = round(gps_point.lat * 1e8) / 1e8;
ASSERT_DOUBLE_EQ(rounded_lat, 35.65282525)
<< "Reverse projected latitude value should be " << 35.65282525;
double rounded_lon = round(gps_point.lon * 1e8) / 1e8;
ASSERT_DOUBLE_EQ(rounded_lon, 139.83947721)
<< "Reverse projected longitude value should be " << 139.83947721;
Comment on lines -75 to -80
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I would like the latitude and longitude comparisons to remain as they are.

ASSERT_DOUBLE_EQ(gps_point.ele, mgrs_point.z())
<< "Reverse projected z value should be " << mgrs_point.z() << " for elevation " << ele;
}
}

TEST(TestSuite, ForwardTransverseMercatorProjection) // NOLINT for gtest
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