smoothing_tests.cpp

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#include "test_utils/utils.hpp"
 
TEST(PathSmoothing, path_smooth1) {
  std::string file_path = "src/planning/tracks/path_smooth1.txt";
  PathSmoothing path_smoothing;
  Pose car_pose = {0, 0, 0};
  std::vector<common_lib::structures::PathPoint> input_path = ::path_from_file(file_path);
  std::vector<common_lib::structures::PathPoint> smoothed_path =
      path_smoothing.smooth_path(input_path,false);
  EXPECT_EQ((int)smoothed_path.size(), 110);
}
TEST(PathSmoothing, path_smooth2) {
  std::string file_path = "src/planning/tracks/path_smooth2.txt";
  PathSmoothing path_smoothing;
  Pose car_pose = {0, 0, 0};
  std::vector<common_lib::structures::PathPoint> input_path = ::path_from_file(file_path);
  std::vector<common_lib::structures::PathPoint> smoothed_path =
      path_smoothing.smooth_path(input_path,false);
  EXPECT_EQ((int)smoothed_path.size(), 380);
}