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Improve get_waypoint test

This commit is contained in:
nsubiron 2019-03-26 17:29:40 +01:00
parent b039388828
commit d657c7551c
1 changed files with 40 additions and 7 deletions
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47
LibCarla/source/test/client/test_opendrive.cpp
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@ -489,14 +489,47 @@ TEST(road, iterate_waypoints) {
}
TEST(road, get_waypoint) {
ThreadPool pool;
std::vector<std::future<void>> results;
for (const auto& file : util::OpenDrive::GetAvailableFiles()) {
carla::logging::log("Parsing", file);
auto m = OpenDriveParser::Load(util::OpenDrive::Load(file));
ASSERT_TRUE(m.has_value());
auto &map = *m;
for (auto i = 0u; i < 1'000u; ++i) {
const auto location = Random::Location(-500.0f, 500.0f);
map.GetClosestWaypointOnRoad(location);
}
results.push_back(pool.Post<void>([file]() {
carla::StopWatch stop_watch;
auto m = OpenDriveParser::Load(util::OpenDrive::Load(file));
ASSERT_TRUE(m.has_value());
auto &map = *m;
for (auto i = 0u; i < 10'000u; ++i) {
const auto location = Random::Location(-500.0f, 500.0f);
auto owp = map.GetClosestWaypointOnRoad(location);
ASSERT_TRUE(owp.has_value());
auto &wp = *owp;
for (auto &next : map.GetNext(wp, 0.5)) {
ASSERT_TRUE(
next.road_id != wp.road_id ||
next.section_id != wp.section_id ||
next.lane_id != wp.lane_id ||
next.s != wp.s);
}
auto left = map.GetLeft(wp);
if (left.has_value()) {
ASSERT_EQ(left->road_id, wp.road_id);
ASSERT_EQ(left->section_id, wp.section_id);
ASSERT_NE(left->lane_id, wp.lane_id);
ASSERT_EQ(left->s, wp.s);
}
auto right = map.GetRight(wp);
if (right.has_value()) {
ASSERT_EQ(right->road_id, wp.road_id);
ASSERT_EQ(right->section_id, wp.section_id);
ASSERT_NE(right->lane_id, wp.lane_id);
ASSERT_EQ(right->s, wp.s);
}
}
float seconds = 1e-3f * stop_watch.GetElapsedTime();
carla::logging::log(file, "done in", seconds, "seconds.");
}));
}
for (auto &result : results) {
result.get();
}
}