File size: 773 Bytes
9897e20 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 | #include "utils.hpp"
#include <gtest/gtest.h>
using namespace madrona;
using namespace madrona::base;
using namespace madrona::math;
using madrona_gpudrive::utils::ReferenceFrame;
TEST(EgocentricRoadObservationTests, Relative) {
ReferenceFrame rf{Vector2{.x = 3, .y = 0},
Quat::angleAxis(toRadians(90), madrona::math::up)};
auto mapObs =
rf.observationOf(Vector3{.x = 3, .y = 3, .z = 0},
Quat::angleAxis(toRadians(270), madrona::math::up),
Scale{{.d0 = 10, .d1 = 0.1, .d2 = 0.1}},
static_cast<madrona_gpudrive::EntityType>(0), 0);
EXPECT_LT(mapObs.position.x - 3, 0.000001);
EXPECT_LT(mapObs.position.y - 0, 0.000001);
EXPECT_EQ(mapObs.heading, toRadians(180));
}
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