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217 lines
6.6 KiB
C++
217 lines
6.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 ECL Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <math.h>
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#include <mathlib/mathlib.h>
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#include <memory>
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#include <lib/geo/geo.h>
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class GeoTest : public ::testing::Test
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{
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public:
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void SetUp() override
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{
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proj.initReference(math::radians(473566094 / 1e7), math::radians(85190237 / 1e7), 0);
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}
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protected:
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MapProjection proj;
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};
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TEST_F(GeoTest, reprojectProject)
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{
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// GIVEN: x and y coordinates in the local cartesian frame
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float x = 0.5;
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float y = 1;
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double lat;
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double lon;
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proj.reproject(x, y, lat, lon);
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float x_new;
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float y_new;
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proj.project(lat, lon, x_new, y_new);
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double lat_new;
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double lon_new;
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proj.reproject(x_new, y_new, lat_new, lon_new);
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EXPECT_FLOAT_EQ(x, x_new);
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EXPECT_FLOAT_EQ(y, y_new);
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EXPECT_FLOAT_EQ(lat, lat_new);
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EXPECT_FLOAT_EQ(lon, lon_new);
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}
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TEST_F(GeoTest, projectReproject)
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{
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// GIVEN: x and y coordinates in the local cartesian frame
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double lat = 47.356616973876953;
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double lon = 8.5190505981445313;
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float x;
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float y;
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proj.project(lat, lon, x, y);
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double lat_new;
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double lon_new;
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proj.reproject(x, y, lat_new, lon_new);
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float x_new;
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float y_new;
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proj.project(lat_new, lon_new, x_new, y_new);
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// WHEN: apply the mapping and its inverse the output should stay the same
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EXPECT_FLOAT_EQ(x, x_new);
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EXPECT_FLOAT_EQ(y, y_new);
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EXPECT_FLOAT_EQ(lat, lat_new);
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EXPECT_FLOAT_EQ(lon, lon_new);
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}
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TEST_F(GeoTest, waypoint_from_heading_and_zero_distance)
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{
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// GIVEN: a starting waypoint, a heading and a distance of 0
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double lat_start = -33;
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double lon_start = 18;
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float bearing = 0;
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float dist = 0;
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double lat_target = 0;
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double lon_target = 0;
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// WHEN: we get the next waypoint
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waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target);
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// THEN: it should be the same
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EXPECT_DOUBLE_EQ(lat_start, lat_target);
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EXPECT_DOUBLE_EQ(lon_start, lon_target);
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}
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TEST_F(GeoTest, waypoint_from_heading_and_negative_distance)
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{
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// GIVEN: a starting waypoint, a heading and negative distance
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double lat_start = -33;
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double lon_start = 18;
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float bearing = 0;
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float lat_offset = -0.01f;
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float dist = CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * lat_offset;
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double lat_target = 0;
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double lon_target = 0;
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// WHEN: we get the next waypoint
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waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target);
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// THEN: it should be the same
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EXPECT_FLOAT_EQ(static_cast<float>(lat_start) + lat_offset, lat_target);
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EXPECT_DOUBLE_EQ(lon_start, lon_target);
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}
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TEST_F(GeoTest, waypoint_from_heading_and_positive_distance)
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{
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// GIVEN: a starting waypoint, a heading and positive distance
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double lat_start = -33;
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double lon_start = 18;
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float bearing = 0;
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float lat_offset = 0.01f;
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float dist = CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * lat_offset;
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double lat_target = 0;
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double lon_target = 0;
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// WHEN: we get the next waypoint
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waypoint_from_heading_and_distance(lat_start, lon_start, bearing, dist, &lat_target, &lon_target);
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// THEN: it should be the same
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EXPECT_FLOAT_EQ(static_cast<float>(lat_start) + lat_offset, lat_target);
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EXPECT_DOUBLE_EQ(lon_start, lon_target);
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}
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TEST_F(GeoTest, waypoint_from_line_and_zero_distance)
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{
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// GIVEN: a starting waypoint, a heading and a distance of 0
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double lat_start = -33;
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double lon_start = 18;
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double lat_end = -32;
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double lon_end = 18;
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float dist = 0;
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double lat_target = 0;
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double lon_target = 0;
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// WHEN: we get the next waypoint
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create_waypoint_from_line_and_dist(lat_start, lon_start, lat_end, lon_end, dist, &lat_target, &lon_target);
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// THEN: it should be the same
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EXPECT_DOUBLE_EQ(lat_start, lat_target);
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EXPECT_DOUBLE_EQ(lon_start, lon_target);
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}
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TEST_F(GeoTest, waypoint_from_line_and_positive_distance)
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{
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// GIVEN: a starting waypoint, a heading and a positive distance
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double lat_start = -33;
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double lon_start = 18;
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double lat_offset = 0.01;
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double lat_end = lat_start + lat_offset;
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double lon_end = 18;
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float dist = CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * static_cast<float>(lat_offset);
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double lat_target = 0;
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double lon_target = 0;
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// WHEN: we get the next waypoint
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create_waypoint_from_line_and_dist(lat_start, lon_start, lat_end, lon_end, dist, &lat_target, &lon_target);
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// THEN: it should be the same
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EXPECT_FLOAT_EQ(lat_start + lat_offset, lat_target);
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EXPECT_DOUBLE_EQ(lon_start, lon_target);
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}
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TEST_F(GeoTest, waypoint_from_line_and_negative_distance)
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{
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// GIVEN: a starting waypoint, a heading and a negative distance
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double lat_start = -33;
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double lon_start = 18;
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double lat_offset = 0.01;
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double lat_end = lat_start + lat_offset;
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double lon_end = 18;
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float dist = -CONSTANTS_RADIUS_OF_EARTH_F * M_PI_F / 180.f * static_cast<float>(lat_offset);
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double lat_target = 0;
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double lon_target = 0;
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// WHEN: we get the next waypoint
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create_waypoint_from_line_and_dist(lat_start, lon_start, lat_end, lon_end, dist, &lat_target, &lon_target);
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// THEN: it should be the same
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EXPECT_FLOAT_EQ(lat_start - lat_offset, lat_target);
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EXPECT_DOUBLE_EQ(lon_start, lon_target);
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}
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