osi_test.cpp File Reference

#include <cmath>
#include <gtest/gtest.h>
#include <Eigen/Geometry>
#include <cloe/component/object.hpp>
#include <cloe/utility/geometry.hpp>
#include "osi_common.pb.h"
#include "osi_object.pb.h"
#include "osi_omni_sensor.hpp"
#include "osi_utils.hpp"

Include dependency graph for osi_test.cpp:

Functions
void	init_osi_vec_3d (osi3::Vector3d *v, const double d[3])
void	init_osi_ori_3d (osi3::Orientation3d *o, const double d[3])
void	assert_eq_osi_vec_3d (const osi3::Vector3d &v, const osi3::Vector3d &w)
void	assert_eq_osi_ori_3d (const osi3::Orientation3d &o, const osi3::Orientation3d &p)
	TEST (osi, eigen_pose)
	TEST (osi, transf_base_mov)
	TEST (osi, transform_ego_coord)
	TEST (osi, transform_obj_coord)
	TEST (osi, vehicle_classification)

Variables
constexpr double	sens_pos_xyz [] = {3.0, 1.0, 0.0}
constexpr double	sens_ori_rpy [] = {0.0, 0.0, M_PI_2}
const Eigen::Vector3d	obj_dims {3.0, 2.0, 1.8}
const Eigen::Vector3d	obj_pos {10.0, 10.0, 10.0}
const Eigen::Vector3d	obj_vel {0.0, 10.0, 0}
const Eigen::Vector3d	obj_osi_cog {-1.2, 0.0, -0.5}
constexpr double	obj_rpy [] = {sens_ori_rpy[0], sens_ori_rpy[1], sens_ori_rpy[2]}

Detailed Description

See also

osi_omni_sensor.hpp

osi_omni_sensor.cpp

osi_utils.hpp

osi_utils.cpp

Function Documentation

TEST()

TEST	(	osi	,
		transform_obj_coord
	)

Set sensor pose relative to the ego frame (rear axle center).