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Fix compilation error in tests for Foxy #23

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Fix compilation error in tests for Foxy #23

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20 changes: 10 additions & 10 deletions costmap_converter/test/costmap_polygons.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -122,10 +122,10 @@ TEST_F(CostmapToPolygonsDBSMCCHTest, dbScan)
std::vector< std::vector<costmap_converter::CostmapToPolygonsDBSMCCH::KeyPoint> > clusters;
costmap_to_polygons.dbScan(clusters);

ASSERT_EQ(3, clusters.size());
ASSERT_EQ(2, clusters[0].size()); // noisy points not belonging to a cluster
ASSERT_EQ(costmap_to_polygons.parameters().max_pts_, clusters[1].size()); // first cluster at (0,0)
ASSERT_EQ(costmap_to_polygons.parameters().max_pts_/2 + 1, clusters[2].size()); // second cluster at (1,1)
ASSERT_EQ(3u, clusters.size());
ASSERT_EQ(2u, clusters[0].size()); // noisy points not belonging to a cluster
ASSERT_EQ(costmap_to_polygons.parameters().max_pts_, static_cast<int>(clusters[1].size())); // first cluster at (0,0)
ASSERT_EQ(costmap_to_polygons.parameters().max_pts_/2 + 1, static_cast<int>(clusters[2].size())); // second cluster at (1,1)
}

TEST(CostmapToPolygonsDBSMCCH, EmptyMap)
Expand All @@ -137,8 +137,8 @@ TEST(CostmapToPolygonsDBSMCCH, EmptyMap)

std::vector< std::vector<costmap_converter::CostmapToPolygonsDBSMCCH::KeyPoint> > clusters;
costmap_to_polygons.dbScan(clusters);
ASSERT_EQ(1, clusters.size()); // noise cluster exists
ASSERT_EQ(0, clusters[0].size()); // noise clsuter is empty
ASSERT_EQ(1u, clusters.size()); // noise cluster exists
ASSERT_EQ(0u, clusters[0].size()); // noise clsuter is empty
}

TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
Expand All @@ -154,7 +154,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
// degenerate case with just two points
geometry_msgs::msg::Polygon original_polygon = polygon;
costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(2, polygon.points.size());
ASSERT_EQ(2u, polygon.points.size());
for (size_t i = 0; i < polygon.points.size(); ++i)
{
ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x);
Expand All @@ -165,7 +165,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
polygon.points.push_back(create_point(1., simplification_threshold / 2.));
original_polygon = polygon;
costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(3, polygon.points.size());
ASSERT_EQ(3u, polygon.points.size());
for (size_t i = 0; i < polygon.points.size(); ++i)
{
ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x);
Expand All @@ -177,7 +177,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygon)
// remove the point that has to be removed by the simplification
original_polygon.points.erase(original_polygon.points.begin()+2);
costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(3, polygon.points.size());
ASSERT_EQ(3u, polygon.points.size());
for (size_t i = 0; i < polygon.points.size(); ++i)
{
ASSERT_FLOAT_EQ(original_polygon.points[i].x, polygon.points[i].x);
Expand Down Expand Up @@ -208,7 +208,7 @@ TEST(CostmapToPolygonsDBSMCCH, SimplifyPolygonPerfectLines)
polygon.points.push_back(create_point(lastPoint.x + i * 1., lastPoint.y));

costmap_to_polygons.simplifyPolygon(polygon);
ASSERT_EQ(6, polygon.points.size());
ASSERT_EQ(6u, polygon.points.size());
ASSERT_FLOAT_EQ( 0., polygon.points[0].x);
ASSERT_FLOAT_EQ( 0., polygon.points[0].y);
ASSERT_FLOAT_EQ(100., polygon.points[1].x);
Expand Down