add a test case for grid map lib

Author: AtsushiSakai

tests/test_grid_based_sweep_coverage_path_planner.py

@@ -6,7 +6,7 @@
 sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../Mapping/grid_map_lib")
 try:
     import grid_based_sweep_coverage_path_planner
-except:
+except ImportError:
     raise
 
 class TestPlanning(TestCase):

tests/test_grid_map_lib.py

@@ -0,0 +1,38 @@
+import os
+import sys
+import unittest
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../Mapping/grid_map_lib")
+try:
+    from grid_map_lib import GridMap
+except ImportError:
+    raise
+
+
+class MyTestCase(unittest.TestCase):
+
+    def test_position_set(self):
+        grid_map = GridMap(100, 120, 0.5, 10.0, -0.5)
+
+        grid_map.set_value_from_xy_pos(10.1, -1.1, 1.0)
+        grid_map.set_value_from_xy_pos(10.1, -0.1, 1.0)
+        grid_map.set_value_from_xy_pos(10.1, 1.1, 1.0)
+        grid_map.set_value_from_xy_pos(11.1, 0.1, 1.0)
+        grid_map.set_value_from_xy_pos(10.1, 0.1, 1.0)
+        grid_map.set_value_from_xy_pos(9.1, 0.1, 1.0)
+
+        self.assertEqual(True, True)
+
+    def test_polygon_set(self):
+        ox = [0.0, 20.0, 50.0, 100.0, 130.0, 40.0]
+        oy = [0.0, -20.0, 0.0, 30.0, 60.0, 80.0]
+
+        grid_map = GridMap(600, 290, 0.7, 60.0, 30.5)
+
+        grid_map.set_value_from_polygon(ox, oy, 1.0, inside=False)
+
+        self.assertEqual(True, True)
+
+
+if __name__ == '__main__':
+    unittest.main()