From 955cfba356938a5138b8a74137fc72667abbd626 Mon Sep 17 00:00:00 2001
From: Kai Bowers <kai.bowers@ansys.com>
Date: Mon, 30 May 2022 06:48:14 -0700
Subject: [PATCH] Mocking TranslateGlobalPositionLocally
---
test/EntityUtilsTest.cpp | 78 ++++++++++++++++++++++++++++++++++++----
1 file changed, 72 insertions(+), 6 deletions(-)
diff --git a/test/EntityUtilsTest.cpp b/test/EntityUtilsTest.cpp
index 88e2df9..4273f2f 100644
--- a/test/EntityUtilsTest.cpp
+++ b/test/EntityUtilsTest.cpp
@@ -44,16 +44,28 @@ TEST_F(EntityUtilsTestFixture,
reference_vehicle_mock.SetProperties(std::move(reference_vehicle_properties));
EXPECT_CALL(master_vehicle_mock, GetPosition())
- .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}));
+ .WillRepeatedly(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}));
EXPECT_CALL(master_vehicle_mock, GetOrientation())
- .WillOnce(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
+ .WillRepeatedly(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
EXPECT_CALL(reference_vehicle_mock, GetPosition())
- .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}));
+ .WillRepeatedly(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}));
EXPECT_CALL(reference_vehicle_mock, GetOrientation())
- .WillOnce(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
+ .WillRepeatedly(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
+
+ const auto local_entity_corner_points = EntityUtils::GetBoundingBoxCornerPoints(reference_vehicle_mock);
+ const mantle_api::Vec3<units::length::meter_t>& mock_position_reference{10_m, 0_m, 0_m};
+
+ for (std::size_t i = 0; i < local_entity_corner_points.size(); i++)
+ {
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ reference_vehicle_mock.GetPosition(),
+ reference_vehicle_mock.GetOrientation(),
+ local_entity_corner_points[i]
+ )).WillByDefault(testing::Return(mock_position_reference));
+ }
auto expected_distance = 7.5_m;
auto actual_distance =
@@ -83,17 +95,32 @@ TEST_F(EntityUtilsTestFixture,
reference_vehicle_mock.SetProperties(std::move(reference_vehicle_properties));
EXPECT_CALL(master_vehicle_mock, GetPosition())
- .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}));
+ .WillRepeatedly(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}));
EXPECT_CALL(master_vehicle_mock, GetOrientation())
.WillRepeatedly(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
EXPECT_CALL(reference_vehicle_mock, GetPosition())
- .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}));
+ .WillRepeatedly(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}));
EXPECT_CALL(reference_vehicle_mock, GetOrientation())
.WillRepeatedly(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
+ const mantle_api::Vec3<units::length::meter_t>& mock_position_reference{10_m, 0_m, 0_m};
+ const mantle_api::Vec3<units::length::meter_t>& mock_position_master{0_m, 0_m, 0_m};
+
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ reference_vehicle_mock.GetPosition(),
+ reference_vehicle_mock.GetOrientation(),
+ -reference_vehicle_mock.GetProperties()->bounding_box.geometric_center
+ )).WillByDefault(testing::Return(mock_position_reference));
+
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ master_vehicle_mock.GetPosition(),
+ master_vehicle_mock.GetOrientation(),
+ -master_vehicle_mock.GetProperties()->bounding_box.geometric_center
+ )).WillByDefault(testing::Return(mock_position_master));
+
auto expected_distance = 10_m;
auto actual_distance =
EntityUtils::CalculateRelativeLongitudinalDistance(env_, master_vehicle_mock, reference_vehicle_mock);
@@ -123,22 +150,55 @@ TEST_F(EntityUtilsTestFixture,
EXPECT_CALL(master_vehicle_mock, GetPosition())
.WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}))
+ .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}))
+ .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}))
.WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}));
+
EXPECT_CALL(master_vehicle_mock, GetOrientation())
.WillRepeatedly(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
EXPECT_CALL(reference_vehicle_mock, GetPosition())
.WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}))
+ .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{0_m, 0_m, 0_m}))
+ .WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}))
.WillOnce(::testing::Return(mantle_api::Vec3<units::length::meter_t>{10_m, 0_m, 0_m}));
EXPECT_CALL(reference_vehicle_mock, GetOrientation())
.WillRepeatedly(::testing::Return(mantle_api::Orientation3<units::angle::radian_t>{0_rad, 0_rad, 0_rad}));
+ const mantle_api::Vec3<units::length::meter_t>& mock_position_reference{10_m, 0_m, 0_m};
+ const mantle_api::Vec3<units::length::meter_t>& mock_position_master{0_m, 0_m, 0_m};
+
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ reference_vehicle_mock.GetPosition(),
+ reference_vehicle_mock.GetOrientation(),
+ -reference_vehicle_mock.GetProperties()->bounding_box.geometric_center
+ )).WillByDefault(testing::Return(mock_position_reference));
+
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ master_vehicle_mock.GetPosition(),
+ master_vehicle_mock.GetOrientation(),
+ -master_vehicle_mock.GetProperties()->bounding_box.geometric_center
+ )).WillByDefault(testing::Return(mock_position_master));
+
+
auto expected_distance = 10_m;
auto actual_distance =
EntityUtils::CalculateRelativeLongitudinalDistance(env_, master_vehicle_mock, reference_vehicle_mock);
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ reference_vehicle_mock.GetPosition(),
+ reference_vehicle_mock.GetOrientation(),
+ -reference_vehicle_mock.GetProperties()->bounding_box.geometric_center
+ )).WillByDefault(testing::Return(mock_position_reference));
+
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(
+ master_vehicle_mock.GetPosition(),
+ master_vehicle_mock.GetOrientation(),
+ -master_vehicle_mock.GetProperties()->bounding_box.geometric_center
+ )).WillByDefault(testing::Return(mock_position_master));
+
actual_distance =
EntityUtils::CalculateRelativeLongitudinalDistance(env_, master_vehicle_mock, reference_vehicle_mock);
@@ -199,6 +259,12 @@ TEST_F(
{-1_m, 1_m, 1_m},
{-1_m, -1_m, 1_m},
};
+
+ for (std::size_t i = 0; i < local_corner_points.size(); i++)
+ {
+ ON_CALL(env_->geometry_helper_, TranslateGlobalPositionLocally(position, orientation, local_corner_points[i])).WillByDefault(testing::Return(position));
+ }
+
auto actual_global_corner_points =
EntityUtils::GetBoundingBoxCornerPointsInGlobal(env_, position, orientation, local_corner_points);
--
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