test(detected_object_validation): add unit tests of utils (#7144)

test: add unit tests

Signed-off-by: ktro2828 <kotaro.uetake@tier4.jp>

Author: ktro2828

perception/detected_object_validation/CMakeLists.txt

@@ -85,6 +85,12 @@ rclcpp_components_register_node(occupancy_grid_based_validator
   EXECUTABLE occupancy_grid_based_validator_node
 )
 
+if(BUILD_TESTING)
+  ament_auto_add_gtest(detection_object_validation_tests
+    test/test_utils.cpp
+  )
+endif()
+
 ament_auto_package(INSTALL_TO_SHARE
   launch
   config

perception/detected_object_validation/test/test_utils.cpp

@@ -0,0 +1,67 @@
+// 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 "detected_object_validation/utils/utils.hpp"
+
+#include <autoware_auto_perception_msgs/msg/object_classification.hpp>
+
+#include <gtest/gtest.h>
+
+using AutowareLabel = autoware_auto_perception_msgs::msg::ObjectClassification;
+
+utils::FilterTargetLabel createFilterTargetAll()
+{
+  utils::FilterTargetLabel filter;
+  filter.UNKNOWN = true;
+  filter.CAR = true;
+  filter.TRUCK = true;
+  filter.BUS = true;
+  filter.TRAILER = true;
+  filter.MOTORCYCLE = true;
+  filter.BICYCLE = true;
+  filter.PEDESTRIAN = true;
+  return filter;
+}
+
+utils::FilterTargetLabel createFilterTargetVehicle()
+{
+  utils::FilterTargetLabel filter;
+  filter.UNKNOWN = false;
+  filter.CAR = true;
+  filter.TRUCK = true;
+  filter.BUS = true;
+  filter.TRAILER = true;
+  filter.MOTORCYCLE = false;
+  filter.BICYCLE = false;
+  filter.PEDESTRIAN = false;
+  return filter;
+}
+
+TEST(IsTargetTest, AllTarget)
+{
+  auto filter = createFilterTargetAll();
+  auto label = AutowareLabel::CAR;
+  EXPECT_TRUE(filter.isTarget(label));
+}
+
+TEST(IsTargetTest, VehicleTarget)
+{
+  auto filter = createFilterTargetVehicle();
+
+  auto car_label = AutowareLabel::CAR;
+  EXPECT_TRUE(filter.isTarget(car_label));
+
+  auto unknown_label = AutowareLabel::UNKNOWN;
+  EXPECT_FALSE(filter.isTarget(unknown_label));
+}