/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *
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 *       notice, this list of conditions and the following disclaimer in the
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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/* Author: Brian Gerkey */

/* This file contains global constants shared among tests */

/* Note that these must be changed if the test image changes */

#include "test_constants/test_constants.h"

#include <vector>

const unsigned int g_valid_image_width = 10;
const unsigned int g_valid_image_height = 10;
// Note that the image content is given in row-major order, with the
// lower-left pixel first.  This is different from a graphics coordinate
// system, which starts with the upper-left pixel.  The loadMapFromFile
// call converts from the latter to the former when it loads the image, and
// we want to compare against the result of that conversion.
const char g_valid_image_content[] = {
  0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  100, 100, 100, 100, 0, 0, 100, 100, 100, 0,
  100, 100, 100, 100, 0, 0, 100, 100, 100, 0,
  100, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  100, 0, 0, 0, 0, 0, 0, 0, 0, 0,
  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
  100, 0, 0, 0, 0, 0, 100, 100, 0, 0,
  100, 0, 0, 0, 0, 0, 0, 0, 0, 0,
};

const char * g_valid_map_name = "testmap";
const char * g_valid_png_file = "testmap.png";
const char * g_valid_bmp_file = "testmap.bmp";
const char * g_valid_pgm_file = "testmap.pgm";
const char * g_valid_yaml_file = "testmap.yaml";
const char * g_tmp_dir = "/tmp";

const double g_valid_image_res = 0.1;
const std::vector<double> g_valid_origin{2.0, 3.0, 1.0};
const double g_default_free_thresh = 0.196;
const double g_default_occupied_thresh = 0.65;