| #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)); |
| } |
|
|
