61 lines
1.9 KiB
C++
61 lines
1.9 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/Helpers.hh"
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using namespace gazebo;
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class HelpersTest : public ::testing::Test { };
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/////////////////////////////////////////////////
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// Test a few function in Helpers
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TEST_F(HelpersTest, Helpers)
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{
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EXPECT_EQ(12345, math::parseInt("12345"));
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EXPECT_EQ(-12345, math::parseInt("-12345"));
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EXPECT_FLOAT_EQ(12.345, math::parseFloat("12.345"));
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EXPECT_FLOAT_EQ(-12.345, math::parseFloat("-12.345"));
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EXPECT_TRUE(math::equal(123.45, math::parseFloat("1.2345e2"), 1e-2));
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EXPECT_EQ(1u, math::roundUpPowerOfTwo(0));
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EXPECT_EQ(1u, math::roundUpPowerOfTwo(1));
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EXPECT_EQ(2u, math::roundUpPowerOfTwo(2));
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EXPECT_EQ(2048u, math::roundUpPowerOfTwo(1025));
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}
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/////////////////////////////////////////////////
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// Test Helpers::fixnan functions
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TEST_F(HelpersTest, FixNaN)
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{
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EXPECT_DOUBLE_EQ(math::fixnan(1.0 / 0.0), 0.0);
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EXPECT_DOUBLE_EQ(math::fixnan(-1.0 / 0.0), 0.0);
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EXPECT_DOUBLE_EQ(math::fixnan(0.0 / 0.0), 0.0);
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EXPECT_DOUBLE_EQ(math::fixnan(42.0), 42.0);
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EXPECT_DOUBLE_EQ(math::fixnan(-42.0), -42.0);
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EXPECT_FLOAT_EQ(math::fixnan(1.0f / 0.0f), 0.0f);
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EXPECT_FLOAT_EQ(math::fixnan(-1.0f / 0.0f), 0.0f);
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EXPECT_FLOAT_EQ(math::fixnan(0.0f / 0.0f), 0.0f);
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EXPECT_FLOAT_EQ(math::fixnan(42.0f), 42.0f);
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EXPECT_FLOAT_EQ(math::fixnan(-42.0f), -42.0f);
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}
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