velocity_planning_tests.cpp

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#include "test_utils/utils.hpp"
 
TEST(VelocityPlanning, velocity0) {
  std::string file_path = "src/planning/tracks/velocity1.txt";
  VelocityPlanning velocity_planning;
  std::vector<common_lib::structures::PathPoint> final_path = ::path_from_file(file_path);
  velocity_planning.set_velocity(final_path);
 
  EXPECT_EQ((int)final_path.size(), 14);
  EXPECT_EQ(final_path.back().ideal_velocity, 3);
}
 
TEST(VelocityPlanning, velocity1) {
  std::string file_path = "src/planning/tracks/velocity1.txt";
  VelocityPlanning velocity_planning;
  std::vector<common_lib::structures::PathPoint> final_path = ::path_from_file(file_path);
  velocity_planning.set_velocity(final_path);
 
  for (const auto& point : final_path) {
    EXPECT_TRUE(point.ideal_velocity >= 3);
  }
 
}
 
TEST(VelocityPlanning, velocity2) {
  std::string file_path = "src/planning/tracks/velocity2.txt";
  VelocityPlanning velocity_planning;
  std::vector<common_lib::structures::PathPoint> final_path = ::path_from_file(file_path);
  velocity_planning.set_velocity(final_path);
 
  EXPECT_EQ((int)final_path.size(), 1);
  EXPECT_EQ(final_path[0].ideal_velocity, 3);
}
 
 
TEST(VelocityPlanning, velocity3) {
  std::string file_path = "src/planning/tracks/velocity3.txt";
  VelocityPlanning velocity_planning;
  std::vector<common_lib::structures::PathPoint> final_path = ::path_from_file(file_path);
  velocity_planning.set_velocity(final_path);
 
  EXPECT_EQ((int)final_path.size(), 0);
}