test_navsat_conversions.cpp

/*
 * Copyright (c) 2021, Charles River Analytics, Inc.
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#include <gtest/gtest.h>

#include <string>

#include "navsat_conversions.hpp"

void NavsatConversionsTest(
  const double lat, const double lon,
  const double UTMNorthing, const double UTMEasting,
  const std::string UTMZone, const double gamma)
{
  double UTMNorthing_new;
  double UTMEasting_new;
  std::string UTMZone_new;
  double gamma_new;
  robot_localization::navsat_conversions::LLtoUTM(
    lat, lon, UTMNorthing_new, UTMEasting_new, UTMZone_new, gamma_new);
  EXPECT_NEAR(UTMNorthing, UTMNorthing_new, 1e-2);
  EXPECT_NEAR(UTMEasting, UTMEasting_new, 1e-2);
  EXPECT_EQ(UTMZone, UTMZone_new);
  EXPECT_NEAR(gamma, gamma_new, 1e-2);
  double lat_new;
  double lon_new;
  robot_localization::navsat_conversions::UTMtoLL(
    UTMNorthing, UTMEasting, UTMZone, lat_new, lon_new);
  EXPECT_NEAR(lat_new, lat, 1e-5);
  EXPECT_NEAR(lon_new, lon, 1e-5);
}

TEST(NavsatConversionsTest, UtmTest)
{
  NavsatConversionsTest(51.423964, 5.494271, 5699924.709, 673409.989, "31U", 1.950);
  NavsatConversionsTest(-43.530955, 172.636645, 5178919.718, 632246.802, "59G", -1.127);
}

int main(int argc, char ** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}