104 lines
2.6 KiB
C++
104 lines
2.6 KiB
C++
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/common/Color.hh"
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#include "gazebo/gui/Conversions.hh"
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#include "test/util.hh"
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using namespace gazebo;
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class GuiConversionsTest : public gazebo::testing::AutoLogFixture { };
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/////////////////////////////////////////////////
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TEST_F(GuiConversionsTest, Color)
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{
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// Gazebo to Qt to Gazebo
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{
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double red = 0.1;
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double green = 0.3;
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double blue = 0.5;
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double alpha = 0.7;
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double tol = 0.01;
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gazebo::common::Color color(red, green, blue, alpha);
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auto newColor = gazebo::gui::Conversions::Convert(
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gazebo::gui::Conversions::Convert(color));
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EXPECT_NEAR(newColor.r, newColor.r, tol);
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EXPECT_NEAR(newColor.g, newColor.g, tol);
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EXPECT_NEAR(newColor.b, newColor.b, tol);
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EXPECT_NEAR(newColor.a, newColor.a, tol);
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}
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// Qt to Gazebo to Qt
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{
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int red = 100;
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int green = 150;
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int blue = 200;
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int alpha = 186;
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QColor color(red, green, blue, alpha);
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EXPECT_EQ(gazebo::gui::Conversions::Convert(
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gazebo::gui::Conversions::Convert(color)), color);
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}
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}
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/////////////////////////////////////////////////
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TEST_F(GuiConversionsTest, Point2d)
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{
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double x = -0.5;
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double y = 123;
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// Ignition to Qt to Ignition
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{
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ignition::math::Vector2d point(x, y);
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EXPECT_EQ(gazebo::gui::Conversions::Convert(
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gazebo::gui::Conversions::Convert(point)), point);
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}
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// Qt to Ignition to Qt
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{
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QPointF point(x, y);
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EXPECT_EQ(gazebo::gui::Conversions::Convert(
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gazebo::gui::Conversions::Convert(point)), point);
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}
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}
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/////////////////////////////////////////////////
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TEST_F(GuiConversionsTest, Vector3d)
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{
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double x = -0.1;
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double y = 0;
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double z = 1234;
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// Ignition to Qt to Ignition
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{
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ignition::math::Vector3d vec(x, y, z);
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EXPECT_EQ(gazebo::gui::Conversions::Convert(
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gazebo::gui::Conversions::Convert(vec)), vec);
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}
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// Qt to Ignition to Qt
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{
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QVector3D vec(x, y, z);
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EXPECT_EQ(gazebo::gui::Conversions::Convert(
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gazebo::gui::Conversions::Convert(vec)), vec);
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}
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}
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