diff --git a/alib2graph_data/test-src/grid/GridTest.cpp b/alib2graph_data/test-src/grid/GridTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d4cce67861e3e46e93e0588c0273db5f984f8a41
--- /dev/null
+++ b/alib2graph_data/test-src/grid/GridTest.cpp
@@ -0,0 +1,246 @@
+// GridTest.cpp
+//
+// Created on: 29. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "GridTest.hpp"
+#include <grid/GridClasses.hpp>
+
+using namespace grid;
+
+CPPUNIT_TEST_SUITE_NAMED_REGISTRATION(GridTest, "grid");
+CPPUNIT_TEST_SUITE_REGISTRATION(GridTest);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void GridTest::setUp() {
+ TestFixture::setUp();
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void GridTest::tearDown() {
+ TestFixture::tearDown();
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void GridTest::testGrid4() {
+ grid::SquareGrid4<> grid4(10, 10);
+ using node_type = decltype(grid4)::node_type;
+ using edge_type = decltype(grid4)::edge_type;
+
+ ext::set<node_type> ref1 = {node_type(5, 4), node_type(5, 6), node_type(4, 5), node_type(6, 5)};
+ CPPUNIT_ASSERT(ref1 == grid4.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref1e = {edge_type(node_type(5, 5), node_type(5, 4)),
+ edge_type(node_type(5, 5), node_type(5, 6)),
+ edge_type(node_type(5, 5), node_type(4, 5)),
+ edge_type(node_type(5, 5), node_type(6, 5))};
+ ext::vector<edge_type> res1e = grid4.successorEdges(node_type(5, 5));
+ std::sort(ref1e.begin(), ref1e.end());
+ std::sort(res1e.begin(), res1e.end());
+ CPPUNIT_ASSERT(ref1e == res1e);
+
+ grid4.addObstacle(node_type(5, 5));
+
+ ext::set<node_type> ref2 = {};
+ CPPUNIT_ASSERT(ref2 == grid4.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref2e = {};
+ ext::vector<edge_type> res2e = grid4.successorEdges(node_type(5, 5));
+ std::sort(ref2e.begin(), ref2e.end());
+ std::sort(res2e.begin(), res2e.end());
+ CPPUNIT_ASSERT(ref2e == res2e);
+
+ ext::set<node_type> ref3 = {node_type(4, 6), node_type(4, 4), node_type(3, 5)};
+ CPPUNIT_ASSERT(ref3 == grid4.successors(node_type(4, 5)));
+ ext::vector<edge_type> ref3e = {edge_type(node_type(4, 5), node_type(4, 6)),
+ edge_type(node_type(4, 5), node_type(4, 4)),
+ edge_type(node_type(4, 5), node_type(3, 5))};
+ ext::vector<edge_type> res3e = grid4.successorEdges(node_type(4, 5));
+ std::sort(ref3e.begin(), ref3e.end());
+ std::sort(res3e.begin(), res3e.end());
+ CPPUNIT_ASSERT(ref3e == res3e);
+
+ ext::set<node_type> ref4 = {node_type(0, 1), node_type(1, 0)};
+ CPPUNIT_ASSERT(ref4 == grid4.successors(node_type(0, 0)));
+ ext::vector<edge_type> ref4e = {edge_type(node_type(0, 0), node_type(0, 1)),
+ edge_type(node_type(0, 0), node_type(1, 0))};
+ ext::vector<edge_type> res4e = grid4.successorEdges(node_type(0, 0));
+ std::sort(ref4e.begin(), ref4e.end());
+ std::sort(res4e.begin(), res4e.end());
+ CPPUNIT_ASSERT(ref4e == res4e);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void GridTest::testGrid8() {
+ grid::SquareGrid8<> grid8(10, 10);
+ using node_type = decltype(grid8)::node_type;
+ using edge_type = decltype(grid8)::edge_type;
+
+ ext::set<node_type> ref1 =
+ {node_type(5, 4), node_type(5, 6), node_type(4, 5), node_type(6, 5), node_type(4, 6), node_type(6, 6),
+ node_type(6, 4), node_type(4, 4)};
+ CPPUNIT_ASSERT(ref1 == grid8.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref1e = {edge_type(node_type(5, 5), node_type(5, 4)),
+ edge_type(node_type(5, 5), node_type(5, 6)),
+ edge_type(node_type(5, 5), node_type(4, 5)),
+ edge_type(node_type(5, 5), node_type(4, 6)),
+ edge_type(node_type(5, 5), node_type(6, 6)),
+ edge_type(node_type(5, 5), node_type(6, 4)),
+ edge_type(node_type(5, 5), node_type(4, 4)),
+ edge_type(node_type(5, 5), node_type(6, 5))};
+ ext::vector<edge_type> res1e = grid8.successorEdges(node_type(5, 5));
+ std::sort(ref1e.begin(), ref1e.end());
+ std::sort(res1e.begin(), res1e.end());
+ CPPUNIT_ASSERT(ref1e == res1e);
+
+ grid8.addObstacle(node_type(4, 4));
+
+ ext::set<node_type> ref2 = {};
+ CPPUNIT_ASSERT(ref2 == grid8.successors(node_type(4, 4)));
+ ext::vector<edge_type> ref2e = {};
+ ext::vector<edge_type> res2e = grid8.successorEdges(node_type(4, 4));
+ std::sort(ref2e.begin(), ref2e.end());
+ std::sort(res2e.begin(), res2e.end());
+ CPPUNIT_ASSERT(ref2e == res2e);
+
+ ext::set<node_type>
+ ref3 = {node_type(5, 4), node_type(5, 6), node_type(4, 5), node_type(6, 5), node_type(4, 6), node_type(6, 6),
+ node_type(6, 4)};
+ CPPUNIT_ASSERT(ref3 == grid8.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref3e = {edge_type(node_type(5, 5), node_type(5, 4)),
+ edge_type(node_type(5, 5), node_type(5, 6)),
+ edge_type(node_type(5, 5), node_type(4, 5)),
+ edge_type(node_type(5, 5), node_type(4, 6)),
+ edge_type(node_type(5, 5), node_type(6, 6)),
+ edge_type(node_type(5, 5), node_type(6, 4)),
+ edge_type(node_type(5, 5), node_type(6, 5))};
+ ext::vector<edge_type> res3e = grid8.successorEdges(node_type(5, 5));
+ std::sort(ref3e.begin(), ref3e.end());
+ std::sort(res3e.begin(), res3e.end());
+ CPPUNIT_ASSERT(ref3e == res3e);
+
+ ext::set<node_type> ref4 = {node_type(0, 1), node_type(1, 0), node_type(1, 1)};
+ CPPUNIT_ASSERT(ref4 == grid8.successors(node_type(0, 0)));
+ ext::vector<edge_type> ref4e = {edge_type(node_type(0, 0), node_type(0, 1)),
+ edge_type(node_type(0, 0), node_type(1, 1)),
+ edge_type(node_type(0, 0), node_type(1, 0))};
+ ext::vector<edge_type> res4e = grid8.successorEdges(node_type(0, 0));
+ std::sort(ref4e.begin(), ref4e.end());
+ std::sort(res4e.begin(), res4e.end());
+ CPPUNIT_ASSERT(ref4e == res4e);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void GridTest::testGrid4Weighted() {
+ grid::WeightedSquareGrid4<> grid4(10, 10);
+ using node_type = decltype(grid4)::node_type;
+ using edge_type = decltype(grid4)::edge_type;
+
+ ext::set<node_type> ref1 = {node_type(5, 4), node_type(5, 6), node_type(4, 5), node_type(6, 5)};
+ CPPUNIT_ASSERT(ref1 == grid4.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref1e = {edge_type(node_type(5, 5), node_type(5, 4), 1),
+ edge_type(node_type(5, 5), node_type(5, 6), 1),
+ edge_type(node_type(5, 5), node_type(4, 5), 1),
+ edge_type(node_type(5, 5), node_type(6, 5), 1)};
+ ext::vector<edge_type> res1e = grid4.successorEdges(node_type(5, 5));
+ std::sort(ref1e.begin(), ref1e.end());
+ std::sort(res1e.begin(), res1e.end());
+ CPPUNIT_ASSERT(ref1e == res1e);
+
+ grid4.addObstacle(node_type(5, 5));
+
+ ext::set<node_type> ref2 = {};
+ CPPUNIT_ASSERT(ref2 == grid4.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref2e = {};
+ ext::vector<edge_type> res2e = grid4.successorEdges(node_type(5, 5));
+ std::sort(ref2e.begin(), ref2e.end());
+ std::sort(res2e.begin(), res2e.end());
+ CPPUNIT_ASSERT(ref2e == res2e);
+
+ ext::set<node_type> ref3 = {node_type(4, 6), node_type(4, 4), node_type(3, 5)};
+ CPPUNIT_ASSERT(ref3 == grid4.successors(node_type(4, 5)));
+ ext::vector<edge_type> ref3e = {edge_type(node_type(4, 5), node_type(4, 6), 1),
+ edge_type(node_type(4, 5), node_type(4, 4), 1),
+ edge_type(node_type(4, 5), node_type(3, 5), 1)};
+ ext::vector<edge_type> res3e = grid4.successorEdges(node_type(4, 5));
+ std::sort(ref3e.begin(), ref3e.end());
+ std::sort(res3e.begin(), res3e.end());
+ CPPUNIT_ASSERT(ref3e == res3e);
+
+ ext::set<node_type> ref4 = {node_type(0, 1), node_type(1, 0)};
+ CPPUNIT_ASSERT(ref4 == grid4.successors(node_type(0, 0)));
+ ext::vector<edge_type> ref4e = {edge_type(node_type(0, 0), node_type(0, 1), 1),
+ edge_type(node_type(0, 0), node_type(1, 0), 1)};
+ ext::vector<edge_type> res4e = grid4.successorEdges(node_type(0, 0));
+ std::sort(ref4e.begin(), ref4e.end());
+ std::sort(res4e.begin(), res4e.end());
+ CPPUNIT_ASSERT(ref4e == res4e);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+void GridTest::testGrid8Weighted() {
+ grid::WeightedSquareGrid8<> grid8(10, 10);
+ using node_type = decltype(grid8)::node_type;
+ using edge_type = decltype(grid8)::edge_type;
+
+ ext::set<node_type> ref1 =
+ {node_type(5, 4), node_type(5, 6), node_type(4, 5), node_type(6, 5), node_type(4, 6), node_type(6, 6),
+ node_type(6, 4), node_type(4, 4)};
+ CPPUNIT_ASSERT(ref1 == grid8.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref1e = {edge_type(node_type(5, 5), node_type(5, 4), 1),
+ edge_type(node_type(5, 5), node_type(5, 6), 1),
+ edge_type(node_type(5, 5), node_type(4, 5), 1),
+ edge_type(node_type(5, 5), node_type(4, 6), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(6, 6), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(6, 4), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(4, 4), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(6, 5), 1)};
+ ext::vector<edge_type> res1e = grid8.successorEdges(node_type(5, 5));
+ std::sort(ref1e.begin(), ref1e.end());
+ std::sort(res1e.begin(), res1e.end());
+ CPPUNIT_ASSERT(ref1e == res1e);
+
+ grid8.addObstacle(node_type(4, 4));
+
+ ext::set<node_type> ref2 = {};
+ CPPUNIT_ASSERT(ref2 == grid8.successors(node_type(4, 4)));
+ ext::vector<edge_type> ref2e = {};
+ ext::vector<edge_type> res2e = grid8.successorEdges(node_type(4, 4));
+ std::sort(ref2e.begin(), ref2e.end());
+ std::sort(res2e.begin(), res2e.end());
+ CPPUNIT_ASSERT(ref2e == res2e);
+
+ ext::set<node_type>
+ ref3 = {node_type(5, 4), node_type(5, 6), node_type(4, 5), node_type(6, 5), node_type(4, 6), node_type(6, 6),
+ node_type(6, 4)};
+ CPPUNIT_ASSERT(ref3 == grid8.successors(node_type(5, 5)));
+ ext::vector<edge_type> ref3e = {edge_type(node_type(5, 5), node_type(5, 4), 1),
+ edge_type(node_type(5, 5), node_type(5, 6), 1),
+ edge_type(node_type(5, 5), node_type(4, 5), 1),
+ edge_type(node_type(5, 5), node_type(4, 6), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(6, 6), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(6, 4), M_SQRT2),
+ edge_type(node_type(5, 5), node_type(6, 5), 1)};
+ ext::vector<edge_type> res3e = grid8.successorEdges(node_type(5, 5));
+ std::sort(ref3e.begin(), ref3e.end());
+ std::sort(res3e.begin(), res3e.end());
+ CPPUNIT_ASSERT(ref3e == res3e);
+
+ ext::set<node_type> ref4 = {node_type(0, 1), node_type(1, 0), node_type(1, 1)};
+ CPPUNIT_ASSERT(ref4 == grid8.successors(node_type(0, 0)));
+ ext::vector<edge_type> ref4e = {edge_type(node_type(0, 0), node_type(0, 1), 1),
+ edge_type(node_type(0, 0), node_type(1, 1), M_SQRT2),
+ edge_type(node_type(0, 0), node_type(1, 0), 1)};
+ ext::vector<edge_type> res4e = grid8.successorEdges(node_type(0, 0));
+ std::sort(ref4e.begin(), ref4e.end());
+ std::sort(res4e.begin(), res4e.end());
+ CPPUNIT_ASSERT(ref4e == res4e);
+}
diff --git a/alib2graph_data/test-src/grid/GridTest.hpp b/alib2graph_data/test-src/grid/GridTest.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..d7392587f25a97cab38e283d28c1b4c7ed753986
--- /dev/null
+++ b/alib2graph_data/test-src/grid/GridTest.hpp
@@ -0,0 +1,35 @@
+// GridTest.hpp
+//
+// Created on: 29. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_GRIDTEST_HPP
+#define ALIB2_GRIDTEST_HPP
+
+#include <cppunit/TestFixture.h>
+#include <cppunit/extensions/HelperMacros.h>
+
+class GridTest : public CppUnit::TestFixture {
+ CPPUNIT_TEST_SUITE(GridTest);
+ CPPUNIT_TEST(testGrid4);
+ CPPUNIT_TEST(testGrid8);
+ CPPUNIT_TEST(testGrid4Weighted);
+ CPPUNIT_TEST(testGrid8Weighted);
+ CPPUNIT_TEST_SUITE_END();
+
+ public:
+ void setUp() override;
+ void tearDown() override;
+
+ void testGrid4();
+ void testGrid8();
+ void testGrid4Weighted();
+ void testGrid8Weighted();
+
+};
+
+#endif //ALIB2_GRIDTEST_HPP