81 lines
2.7 KiB
C++
81 lines
2.7 KiB
C++
/*
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* Copyright (c) 2012, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <gtest/gtest.h>
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#include "costmap_2d/array_parser.h"
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using namespace costmap_2d;
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TEST(array_parser, basic_operation)
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{
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std::string error;
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std::vector<std::vector<float> > vvf;
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vvf = parseVVF( "[[1, 2.2], [.3, -4e4]]", error );
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EXPECT_EQ( 2, vvf.size() );
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EXPECT_EQ( 2, vvf[0].size() );
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EXPECT_EQ( 2, vvf[1].size() );
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EXPECT_EQ( 1.0f, vvf[0][0] );
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EXPECT_EQ( 2.2f, vvf[0][1] );
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EXPECT_EQ( 0.3f, vvf[1][0] );
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EXPECT_EQ( -40000.0f, vvf[1][1] );
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EXPECT_EQ( "", error );
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}
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TEST(array_parser, missing_open)
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{
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std::string error;
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std::vector<std::vector<float> > vvf;
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vvf = parseVVF( "[1, 2.2], [.3, -4e4]]", error );
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EXPECT_FALSE( error == "" );
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}
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TEST(array_parser, missing_close)
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{
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std::string error;
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std::vector<std::vector<float> > vvf;
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vvf = parseVVF( "[[1, 2.2], [.3, -4e4]", error );
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EXPECT_FALSE( error == "" );
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}
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TEST(array_parser, wrong_depth)
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{
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std::string error;
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std::vector<std::vector<float> > vvf;
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vvf = parseVVF( "[1, 2.2], [.3, -4e4]", error );
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EXPECT_FALSE( error == "" );
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}
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int main(int argc, char** argv)
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{
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testing::InitGoogleTest( &argc, argv );
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return RUN_ALL_TESTS();
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}
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