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https://github.com/PX4/PX4-Autopilot.git
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RomanBapst
80 lines
2.8 KiB
C++
80 lines
2.8 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2026 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include "geofence_utils.h"
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using namespace matrix;
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TEST(GeofenceUtilsTest, SegmentsSharedEndpointNoIntersection)
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{
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// Two segments share endpoint (1,1) but go in different directions — no crossing
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Vector2f p1(0.f, 0.f);
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Vector2f p2(2.f, 2.f);
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Vector2f v1(1.f, 1.f);
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Vector2f v2(2.f, 2.f);
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EXPECT_FALSE(geofence_utils::segmentsIntersect(p1, p2, v1, v2));
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}
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TEST(GeofenceUtilsTest, SegmentsCross)
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{
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// vertical line from origin straight up
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Vector2f p1(0.f, 0.f);
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Vector2f p2(0.f, 1.f);
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Vector2f v1(-0.0001f, 0.0001f);
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Vector2f v2(1.f, 0.0001f);
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EXPECT_TRUE(geofence_utils::segmentsIntersect(p1, p2, v1, v2));
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}
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TEST(GeofenceUtilsTest, SegmentAndCircleIntersect)
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{
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// vertical line from origin straight up
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Vector2f p1(0.f, 0.f);
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Vector2f p2(0.f, 1.f);
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Vector2f center(0.0f, 1.0f);
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EXPECT_TRUE(geofence_utils::lineSegmentIntersectsCircle(p1, p2, center, 0.5f));
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p1 = Vector2f(-1.0f, 0.0f);
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p2 = Vector2f(1.f, 0.0f);
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center = Vector2f(0.f, 1.f);
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EXPECT_TRUE(geofence_utils::lineSegmentIntersectsCircle(p1, p2, center, 1.1f));
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EXPECT_FALSE(geofence_utils::lineSegmentIntersectsCircle(p1, p2, center, 0.9f));
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}
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