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This commit is contained in:
PJ Reiniger
2025-11-07 20:01:58 -05:00
committed by Peter Johnson
parent ae6bdc9d25
commit 2109161534
749 changed files with 5504 additions and 3936 deletions
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26
wpimath/src/test/native/cpp/path/TravelingSalesmanTest.cpp
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@@ -26,7 +26,8 @@ bool IsMatchingCycle(std::span<const wpi::math::Pose2d> expected,
assert(expected.size() == actual.size());
// Check actual has expected cycle (forward)
wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferForward{expected.size()};
wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferForward{
expected.size()};
for (size_t i = 0; i < actual.size(); ++i) {
actualBufferForward.push_back(actual[i % actual.size()]);
}
@@ -36,7 +37,8 @@ bool IsMatchingCycle(std::span<const wpi::math::Pose2d> expected,
}
// Check actual has expected cycle (reverse)
wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferReverse{expected.size()};
wpi::util::circular_buffer<wpi::math::Pose2d> actualBufferReverse{
expected.size()};
for (size_t i = 0; i < actual.size(); ++i) {
actualBufferReverse.push_front(actual[(1 + i) % actual.size()]);
}
@@ -64,8 +66,8 @@ TEST(TravelingSalesmanTest, FiveLengthStaticPathWithDistanceCost) {
wpi::math::TravelingSalesman traveler;
wpi::util::array<wpi::math::Pose2d, 5> solution = traveler.Solve(poses, 500);
wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
poses[3]};
wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4],
poses[1], poses[3]};
EXPECT_TRUE(IsMatchingCycle(expected, solution));
}
@@ -87,8 +89,8 @@ TEST(TravelingSalesmanTest, FiveLengthDynamicPathWithDistanceCost) {
traveler.Solve(std::span<const wpi::math::Pose2d>{poses}, 500);
ASSERT_EQ(5u, solution.size());
wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4], poses[1],
poses[3]};
wpi::util::array<wpi::math::Pose2d, 5> expected{poses[0], poses[2], poses[4],
poses[1], poses[3]};
EXPECT_TRUE(IsMatchingCycle(expected, solution));
}
@@ -110,9 +112,9 @@ TEST(TravelingSalesmanTest, TenLengthStaticPathWithDistanceCost) {
wpi::math::TravelingSalesman traveler;
wpi::util::array<wpi::math::Pose2d, 10> solution = traveler.Solve(poses, 500);
wpi::util::array<wpi::math::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
poses[1], poses[2], poses[9], poses[8],
poses[5], poses[7]};
wpi::util::array<wpi::math::Pose2d, 10> expected{
poses[0], poses[4], poses[6], poses[3], poses[1],
poses[2], poses[9], poses[8], poses[5], poses[7]};
EXPECT_TRUE(IsMatchingCycle(expected, solution));
}
@@ -136,9 +138,9 @@ TEST(TravelingSalesmanTest, TenLengthDynamicPathWithDistanceCost) {
traveler.Solve(std::span<const wpi::math::Pose2d>{poses}, 500);
ASSERT_EQ(10u, solution.size());
wpi::util::array<wpi::math::Pose2d, 10> expected{poses[0], poses[4], poses[6], poses[3],
poses[1], poses[2], poses[9], poses[8],
poses[5], poses[7]};
wpi::util::array<wpi::math::Pose2d, 10> expected{
poses[0], poses[4], poses[6], poses[3], poses[1],
poses[2], poses[9], poses[8], poses[5], poses[7]};
EXPECT_TRUE(IsMatchingCycle(expected, solution));
}