131 lines
3.9 KiB
C++
131 lines
3.9 KiB
C++
/*
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* Copyright (C) 2012 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 <gtest/gtest.h>
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#include "gazebo/math/Box.hh"
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using namespace gazebo;
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class BoxTest : public ::testing::Test { };
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class ExampleBox : public ::testing::Test
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{
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protected:
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virtual void SetUp()
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{
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box = math::Box(math::Vector3(0, -1, 2), math::Vector3(1, -2, 3));
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}
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math::Box box;
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};
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TEST_F(BoxTest, EmptyConstructor)
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{
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math::Box box;
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EXPECT_TRUE(box.min == math::Vector3(0, 0, 0));
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EXPECT_TRUE(box.max == math::Vector3(0, 0, 0));
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}
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TEST_F(ExampleBox, Constructor)
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{
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EXPECT_TRUE(box.min == math::Vector3(0, -2, 2));
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EXPECT_TRUE(box.max == math::Vector3(1, -1, 3));
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}
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TEST_F(ExampleBox, CopyConstructor)
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{
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math::Box box1(box);
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EXPECT_TRUE(box1.min == box.min);
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EXPECT_TRUE(box1.max == box.max);
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}
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TEST_F(ExampleBox, GetLength)
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{
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EXPECT_DOUBLE_EQ(box.GetXLength(), 1);
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EXPECT_DOUBLE_EQ(box.GetYLength(), 1);
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EXPECT_DOUBLE_EQ(box.GetZLength(), 1);
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}
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TEST_F(ExampleBox, GetSize)
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{
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EXPECT_TRUE(box.GetSize() == math::Vector3(1, 1, 1));
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}
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TEST_F(ExampleBox, GetCenter)
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{
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EXPECT_TRUE(box.GetCenter() == math::Vector3(0.5, -1.5, 2.5));
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}
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TEST_F(ExampleBox, Merge)
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{
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box.Merge(math::Box(math::Vector3(-1, -1, -1), math::Vector3(2, 2, 2)));
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EXPECT_TRUE(box == math::Box(math::Vector3(-1, -2, -1),
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math::Vector3(2, 2, 3)));
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}
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TEST_F(BoxTest, OperatorEqual)
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{
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math::Box box = math::Box(math::Vector3(1, 1, 1), math::Vector3(3, 3, 3));
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EXPECT_TRUE(box == math::Box(math::Vector3(1, 1, 1), math::Vector3(3, 3, 3)));
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}
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TEST_F(BoxTest, OperatorPlusEqual)
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{
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math::Box box = math::Box(math::Vector3(1, 1, 1), math::Vector3(3, 3, 3));
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box += math::Box(math::Vector3(2, 2, 2), math::Vector3(4, 4, 4));
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EXPECT_TRUE(box == math::Box(math::Vector3(1, 1, 1), math::Vector3(4, 4, 4)));
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}
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TEST_F(BoxTest, OperatorPlus)
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{
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math::Box box = math::Box(math::Vector3(1, 1, 1), math::Vector3(4, 4, 4));
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box = box + math::Box(math::Vector3(-2, -2, -2), math::Vector3(4, 4, 4));
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EXPECT_TRUE(box == math::Box(math::Vector3(-2, -2, -2),
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math::Vector3(4, 4, 4)));
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}
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/////////////////////////////////////////////////
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TEST_F(BoxTest, Contains)
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{
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math::Box box = math::Box(math::Vector3(0, 0, 0), math::Vector3(1, 1, 1));
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EXPECT_TRUE(box.Contains(math::Vector3(0, 0, 0)));
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EXPECT_TRUE(box.Contains(math::Vector3(0, 0, 1)));
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EXPECT_TRUE(box.Contains(math::Vector3(0, 1, 1)));
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EXPECT_TRUE(box.Contains(math::Vector3(1, 1, 1)));
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EXPECT_TRUE(box.Contains(math::Vector3(1, 1, 0)));
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EXPECT_TRUE(box.Contains(math::Vector3(1, 0, 0)));
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EXPECT_TRUE(box.Contains(math::Vector3(0.5, 0.5, 0.5)));
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EXPECT_FALSE(box.Contains(math::Vector3(0, 0, -1)));
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EXPECT_FALSE(box.Contains(math::Vector3(0, -1, -1)));
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EXPECT_FALSE(box.Contains(math::Vector3(-1, -1, -1)));
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EXPECT_FALSE(box.Contains(math::Vector3(-1, -1, 0)));
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EXPECT_FALSE(box.Contains(math::Vector3(-1, 0, 0)));
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EXPECT_FALSE(box.Contains(math::Vector3(0.5, 0.5, -0.5)));
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EXPECT_FALSE(box.Contains(math::Vector3(0.5, -0.5, 0.5)));
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EXPECT_FALSE(box.Contains(math::Vector3(-0.5, 0.5, 0.5)));
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EXPECT_FALSE(box.Contains(math::Vector3(-0.5, -0.5, 0.5)));
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EXPECT_FALSE(box.Contains(math::Vector3(-0.5, -0.5, -0.5)));
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EXPECT_FALSE(box.Contains(math::Vector3(0, 0, -0.01)));
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EXPECT_FALSE(box.Contains(math::Vector3(0, -0.01, 0)));
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EXPECT_FALSE(box.Contains(math::Vector3(-0.01, 0, 0)));
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}
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