1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
|
/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
#include "Aria.h"
#include "ariaUtil.h"
void testIntersection(ArLine *line1, ArLine *line2, double x, double y,
char *name)
{
ArPose pose;
if (!line1->intersects(line2, &pose) || fabs(pose.getX() - x) > .001 ||
fabs(pose.getY() - y) > .001)
{
printf("%s didn't intersect\n", name);
exit(1);
}
if (line1->intersects(line1, &pose))
{
printf("First line of %s intersected itself\n", name);
exit(1);
}
if (line2->intersects(line2, &pose))
{
printf("Second line of %s intersected itself\n", name);
exit(1);
}
}
void testIntersection(ArLineSegment *line1, ArLine *line2, double x, double y,
char *name)
{
ArPose pose;
if (!line1->intersects(line2, &pose) || fabs(pose.getX() - x) > .001 ||
fabs(pose.getY() - y) > .001)
{
printf("%s didn't intersect\n", name);
exit(1);
}
if (line1->intersects(line1, &pose))
{
printf("First line of %s intersected itself\n", name);
exit(1);
}
if (line2->intersects(line2, &pose))
{
printf("Second line of %s intersected itself\n", name);
exit(1);
}
}
void testIntersection(ArLineSegment *line1, ArLineSegment *line2,
double x, double y, char *name)
{
ArPose pose;
if (!line1->intersects(line2, &pose) || fabs(pose.getX() - x) > .001 ||
fabs(pose.getY() - y) > .001)
{
printf("%s didn't intersect\n", name);
exit(1);
}
if (line1->intersects(line1, &pose))
{
printf("First line of %s intersected itself\n", name);
exit(1);
}
if (line2->intersects(line2, &pose))
{
printf("Second line of %s intersected itself\n", name);
exit(1);
}
}
void testPerp(ArLineSegment *segment, ArPose perp, ArPose perpPoint,
char *name)
{
ArPose pose;
if (!segment->getPerpPoint(perp, &pose) ||
fabs(pose.getX() - perpPoint.getX()) > .001 ||
fabs(pose.getY() - perpPoint.getY()) > .001)
{
printf("%s wasn't perp but should have been\n", name);
exit(1);
}
}
void testNotPerp(ArLineSegment *segment, ArPose perp, char *name)
{
ArPose pose;
if (segment->getPerpPoint(perp, &pose))
{
printf("%s was perp but shouldn't have been, at %.0f %.0f\n", name,
pose.getX(), pose.getY());
exit(1);
}
}
int main(void)
{
ArPose pose;
ArLine xLine(-2000, 0, 2000, 0);
ArLine yLine(100, 500, 100, -500);
ArLineSegment xLineSeg(-2000, 0, 2000, 0);
ArLineSegment yLineSeg(100, 500, 100, -500);
// test all our segments
testIntersection(&xLine, &yLine, 100, 0, "xLine and yLine");
testIntersection(&xLineSeg, &yLine, 100, 0, "xLineSeg and yLine");
testIntersection(&yLineSeg, &xLine, 100, 0, "yLineSeg and xLine");
testIntersection(&xLineSeg, &yLineSeg, 100, 0, "xLineSeg and yLineSeg");
// test the perp on all the segments
testPerp(&xLineSeg, ArPose(-2000, 50), ArPose(-2000, 0), "xLineSeg end1");
testPerp(&xLineSeg, ArPose(2000, 50), ArPose(2000, 0), "xLineSeg end2");
testPerp(&xLineSeg, ArPose(357, 50), ArPose(357, 0), "xLineSeg middle");
testNotPerp(&xLineSeg, ArPose(2001, 0), "xLineSeg beyond end2");
testNotPerp(&xLineSeg, ArPose(3000, 0), "xLineSeg way beyond end2");
testNotPerp(&xLineSeg, ArPose(-2001, 0), "xLineSeg beyond end1");
testNotPerp(&xLineSeg, ArPose(-3000, 0), "xLineSeg way beyond end1");
testPerp(&xLineSeg, ArPose(1000, 0), ArPose(1000, 0), "xLineSeg point on line");
printf("All tests completed successfully\n");
return 0;
}
|
