fix: use output orientation as of now in orientation test

Signed-off-by: Kotaro Yoshimoto <[email protected]>
tier4 · Feb 9, 2024 · 82008be · 82008be
1 parent abb064e
commit 82008be
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Showing 2 changed files with 15 additions and 12 deletions.
diff --git a/test_runner/random_test_runner/test/test_lanelet_utils.cpp b/test_runner/random_test_runner/test/test_lanelet_utils.cpp
@@ -202,6 +202,7 @@ TEST(LaneletUtils, toMapPose)
 {
   const traffic_simulator_msgs::msg::LaneletPose pose = makeLaneletPose(34621, 10.0);
   EXPECT_NO_THROW(getLaneletUtils().toMapPose(pose));
+  // NOTE: orientation data is output as of #1103
   EXPECT_POSE_NEAR(
     getLaneletUtils().toMapPose(pose).pose,
     geometry_msgs::build<geometry_msgs::msg::Pose>()
@@ -210,10 +211,10 @@ TEST(LaneletUtils, toMapPose)
                   .y(73735.0699484234)
                   .z(0.3034051453))
       .orientation(geometry_msgs::build<geometry_msgs::msg::Quaternion>()
-                     .x(0.0)
-                     .y(0.0)
-                     .z(-0.9719821398)
-                     .w(0.2350547166)),
+                     .x(-0.0091567745565503053)
+                     .y(-0.0022143853886961245)
+                     .z(-0.97193900717756765)
+                     .w(0.23504428583514828)),
     EPS);
 }
 

diff --git a/test_runner/random_test_runner/test/test_test_randomizer.cpp b/test_runner/random_test_runner/test/test_test_randomizer.cpp
@@ -53,6 +53,7 @@ TEST(TestRandomizer, generate_10NPC)
     description.ego_start_position, makeLaneletPose(34705, 6.2940393113), EPS);
   EXPECT_LANELET_POSE_NEAR(
     description.ego_goal_position, makeLaneletPose(34642, 9.6945373700), EPS);
+  // NOTE: orientation data is output as of #1103
   EXPECT_POSE_NEAR(
     description.ego_goal_pose,
     geometry_msgs::build<geometry_msgs::msg::Pose>()
@@ -61,10 +62,10 @@ TEST(TestRandomizer, generate_10NPC)
                   .y(73741.1526960728)
                   .z(0.0698702227))
       .orientation(geometry_msgs::build<geometry_msgs::msg::Quaternion>()
-                     .x(0.0)
-                     .y(0.0)
-                     .z(-0.9854984261)
-                     .w(0.1696845662)),
+                     .x(-0.0040560888625029243)
+                     .y(-0.00069838333685736189)
+                     .z(-0.98549007915725362)
+                     .w(0.16968312905673485)),
     EPS);
   // npc data
   EXPECT_EQ(description.npcs_descriptions.size(), size_t(10));
@@ -117,6 +118,7 @@ TEST(TestRandomizer, generate_8NPC)
     description.ego_start_position, makeLaneletPose(34648, 11.3744011441), EPS);
   EXPECT_LANELET_POSE_NEAR(
     description.ego_goal_position, makeLaneletPose(34507, 55.3754803281), EPS);
+  // NOTE: orientation data is output as of #1103
   EXPECT_POSE_NEAR(
     description.ego_goal_pose,
     geometry_msgs::build<geometry_msgs::msg::Pose>()
@@ -125,10 +127,10 @@ TEST(TestRandomizer, generate_8NPC)
                   .y(73815.1830249432)
                   .z(-2.9975350010))
       .orientation(geometry_msgs::build<geometry_msgs::msg::Quaternion>()
-                     .x(0.0)
-                     .y(0.0)
-                     .z(0.2345315792)
-                     .w(0.9721085013)),
+                     .x(-0.002510549540877986)
+                     .y(0.01040596135909698)
+                     .z(0.23451814178855812)
+                     .w(0.97205280426591933)),
     EPS);
   // npc data
   EXPECT_EQ(description.npcs_descriptions.size(), size_t(8));