himmelsbach_test.cpp File Reference

#include "ground_removal/himmelsbach.hpp"
#include <gtest/gtest.h>
#include <memory>
#include <test_utils/pointcloud2_helper.hpp>
#include <utils/ground_grid.hpp>

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Classes
class	HimmelsbachTest

Functions
	TEST_F (HimmelsbachTest, EmptyCloudReturnsEmpty)
	An empty input cloud should result in an empty output cloud.
	TEST_F (HimmelsbachTest, AllGroundPointsRemoved)
	All points are below ground threshold and should be removed.
	TEST_F (HimmelsbachTest, AllNonGroundPointsRetained)
	All points are above ground threshold and should be retained.
	TEST_F (HimmelsbachTest, MixedPointsOnlyNonGroundRetained)
	Mixed input; only non-ground points should be retained in the output.
	TEST_F (HimmelsbachTest, GroundGridIsResetAndUpdated)
	GroundGrid is reset and updated after ground removal.

Function Documentation

TEST_F() [1/5]

TEST_F	(	HimmelsbachTest	,
		AllGroundPointsRemoved
	)

All points are below ground threshold and should be removed.

Definition at line 66 of file himmelsbach_test.cpp.

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TEST_F() [2/5]

TEST_F	(	HimmelsbachTest	,
		AllNonGroundPointsRetained
	)

All points are above ground threshold and should be retained.

Definition at line 76 of file himmelsbach_test.cpp.

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TEST_F() [3/5]

TEST_F	(	HimmelsbachTest	,
		EmptyCloudReturnsEmpty
	)

An empty input cloud should result in an empty output cloud.

Definition at line 56 of file himmelsbach_test.cpp.

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TEST_F() [4/5]

TEST_F	(	HimmelsbachTest	,
		GroundGridIsResetAndUpdated
	)

GroundGrid is reset and updated after ground removal.

Definition at line 96 of file himmelsbach_test.cpp.

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TEST_F() [5/5]

TEST_F	(	HimmelsbachTest	,
		MixedPointsOnlyNonGroundRetained
	)

Mixed input; only non-ground points should be retained in the output.

Definition at line 86 of file himmelsbach_test.cpp.

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