From c1eb46ab60183e129f9ca96c8ade9c64fa9a1abd Mon Sep 17 00:00:00 2001
From: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Date: Wed, 18 Dec 2024 11:09:20 +0900
Subject: [PATCH] test(autoware_geography_utils): add `lanelet2_projector` test
 (#128)

* add test

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>

* style(pre-commit): autofix

---------

Signed-off-by: Yutaka Kondo <yutaka.kondo@youtalk.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
---
 .../test/test_lanelet2_projector.cpp          | 81 +++++++++++++++++++
 1 file changed, 81 insertions(+)
 create mode 100644 common/autoware_geography_utils/test/test_lanelet2_projector.cpp

diff --git a/common/autoware_geography_utils/test/test_lanelet2_projector.cpp b/common/autoware_geography_utils/test/test_lanelet2_projector.cpp
new file mode 100644
index 0000000000..cb646890f4
--- /dev/null
+++ b/common/autoware_geography_utils/test/test_lanelet2_projector.cpp
@@ -0,0 +1,81 @@
+// Copyright 2024 TIER IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <autoware/geography_utils/lanelet2_projector.hpp>
+#include <autoware_lanelet2_extension/projection/mgrs_projector.hpp>
+#include <autoware_lanelet2_extension/projection/transverse_mercator_projector.hpp>
+
+#include <gtest/gtest.h>
+#include <lanelet2_projection/UTM.h>
+
+#include <memory>
+#include <stdexcept>
+
+TEST(GeographyUtilsLanelet2Projector, GetMGRSProjector)
+{
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::MGRS;
+  projector_info.mgrs_grid = "54SUE";
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
+
+  std::unique_ptr<lanelet::Projector> projector =
+    autoware::geography_utils::get_lanelet2_projector(projector_info);
+
+  // Check if the returned projector is of type MGRSProjector
+  EXPECT_NE(dynamic_cast<lanelet::projection::MGRSProjector *>(projector.get()), nullptr);
+}
+
+TEST(GeographyUtilsLanelet2Projector, GetLocalCartesianUTMProjector)
+{
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::LOCAL_CARTESIAN_UTM;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.map_origin.latitude = 35.62426;
+  projector_info.map_origin.longitude = 139.74252;
+  projector_info.map_origin.altitude = 0.0;
+
+  std::unique_ptr<lanelet::Projector> projector =
+    autoware::geography_utils::get_lanelet2_projector(projector_info);
+
+  // Check if the returned projector is of type UtmProjector
+  EXPECT_NE(dynamic_cast<lanelet::projection::UtmProjector *>(projector.get()), nullptr);
+}
+
+TEST(GeographyUtilsLanelet2Projector, GetTransverseMercatorProjector)
+{
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = autoware_map_msgs::msg::MapProjectorInfo::TRANSVERSE_MERCATOR;
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
+  projector_info.map_origin.latitude = 35.62426;
+  projector_info.map_origin.longitude = 139.74252;
+  projector_info.map_origin.altitude = 0.0;
+
+  std::unique_ptr<lanelet::Projector> projector =
+    autoware::geography_utils::get_lanelet2_projector(projector_info);
+
+  // Check if the returned projector is of type TransverseMercatorProjector
+  EXPECT_NE(
+    dynamic_cast<lanelet::projection::TransverseMercatorProjector *>(projector.get()), nullptr);
+}
+
+TEST(GeographyUtilsLanelet2Projector, InvalidProjectorType)
+{
+  autoware_map_msgs::msg::MapProjectorInfo projector_info;
+  projector_info.projector_type = "INVALID_TYPE";
+  projector_info.vertical_datum = autoware_map_msgs::msg::MapProjectorInfo::WGS84;
+
+  // Check if the function throws an invalid_argument exception for invalid projector type
+  EXPECT_THROW(
+    autoware::geography_utils::get_lanelet2_projector(projector_info), std::invalid_argument);
+}