55 lines
1.6 KiB
C++
55 lines
1.6 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/Vector3.hh"
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#include "gazebo/math/Spline.hh"
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using namespace gazebo;
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class SplineTest : public ::testing::Test { };
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TEST_F(SplineTest, Spline)
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{
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math::Spline s;
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s.AddPoint(math::Vector3(0, 0, 0));
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EXPECT_EQ(static_cast<unsigned int>(1), s.GetPointCount());
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s.Clear();
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EXPECT_EQ(static_cast<unsigned int>(0), s.GetPointCount());
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s.AddPoint(math::Vector3(0, 0, 0));
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EXPECT_TRUE(s.GetPoint(0) == math::Vector3(0, 0, 0));
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s.AddPoint(math::Vector3(1, 1, 1));
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EXPECT_TRUE(s.GetPoint(1) == math::Vector3(1, 1, 1));
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// ::UpdatePoint
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s.UpdatePoint(1, math::Vector3(2, 2, 2));
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s.SetAutoCalculate(false);
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s.UpdatePoint(0, math::Vector3(-1, -1, -1));
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s.SetAutoCalculate(true);
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// ::Interpolate
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EXPECT_TRUE(s.Interpolate(0.5) == math::Vector3(0.5, 0.5, 0.5));
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// ::Interpolate
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s.AddPoint(math::Vector3(4, 4, 4));
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EXPECT_TRUE(s.Interpolate(1, 0.2) == math::Vector3(2.496, 2.496, 2.496));
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}
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