56 lines
1.7 KiB
C++
56 lines
1.7 KiB
C++
/*
|
|
* Copyright (C) 2012 Open Source Robotics Foundation
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*
|
|
*/
|
|
|
|
#include <gtest/gtest.h>
|
|
|
|
#include "gazebo/math/Helpers.hh"
|
|
#include "gazebo/math/Plane.hh"
|
|
|
|
using namespace gazebo;
|
|
|
|
class PlaneTest : public ::testing::Test { };
|
|
|
|
TEST_F(PlaneTest, Plane)
|
|
{
|
|
{
|
|
math::Plane plane;
|
|
EXPECT_TRUE(math::equal(plane.d, 0.0));
|
|
EXPECT_TRUE(plane.normal == math::Vector3());
|
|
EXPECT_TRUE(plane.size == math::Vector2d(0, 0));
|
|
}
|
|
|
|
{
|
|
math::Plane plane(math::Vector3(0, 0, 1), math::Vector2d(2, 3), 2.0);
|
|
EXPECT_TRUE(math::equal(plane.d, 2.0));
|
|
EXPECT_TRUE(plane.normal == math::Vector3(0, 0, 1));
|
|
EXPECT_TRUE(plane.size == math::Vector2d(2, 3));
|
|
|
|
EXPECT_DOUBLE_EQ(-1, plane.Distance(math::Vector3(0, 0, 1),
|
|
math::Vector3(0, 0, -1)));
|
|
|
|
plane.Set(math::Vector3(1, 0, 0), math::Vector2d(1, 1), 1.0);
|
|
EXPECT_TRUE(math::equal(plane.d, 1.0));
|
|
EXPECT_TRUE(plane.normal == math::Vector3(1, 0, 0));
|
|
EXPECT_TRUE(plane.size == math::Vector2d(1, 1));
|
|
|
|
plane = math::Plane(math::Vector3(0, 1, 0), math::Vector2d(4, 4), 5.0);
|
|
EXPECT_TRUE(math::equal(plane.d, 5.0));
|
|
EXPECT_TRUE(plane.normal == math::Vector3(0, 1, 0));
|
|
EXPECT_TRUE(plane.size == math::Vector2d(4, 4));
|
|
}
|
|
}
|