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Fix Windows warnings

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This commit is contained in:
Martin Idel
2018-03-14 16:47:52 +01:00
parent 48e676ff7f
commit c985f5defc
2 changed files with 69 additions and 64 deletions
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84
test/projection_test.cpp
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@@ -27,8 +27,9 @@
* POSSIBILITY OF SUCH DAMAGE.
*/
#define _USE_MATH_DEFINES
#include <gtest/gtest.h>
#include <math.h>
#include <cmath>
#include <vector>
#include "rclcpp/rclcpp.hpp"
@@ -36,9 +37,10 @@
#include "laser_geometry/laser_geometry.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#define PROJECTION_TEST_RANGE_MIN (0.23)
#define PROJECTION_TEST_RANGE_MAX (40.0)
#define PROJECTION_TEST_RANGE_MIN (0.23f)
#define PROJECTION_TEST_RANGE_MAX (40.0f)
#define PI static_cast<float>(M_PI)
class BuildScanException
{
@@ -46,16 +48,16 @@ class BuildScanException
struct ScanOptions
{
double range_;
double intensity_;
double ang_min_;
double ang_max_;
double ang_increment_;
float range_;
float intensity_;
float ang_min_;
float ang_max_;
float ang_increment_;
rclcpp::Duration scan_time_;
ScanOptions(
double range, double intensity,
double ang_min, double ang_max, double ang_increment,
float range, float intensity,
float ang_min, float ang_max, float ang_increment,
rclcpp::Duration scan_time)
: range_(range),
intensity_(intensity),
@@ -77,7 +79,7 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
scan.angle_min = options.ang_min_;
scan.angle_max = options.ang_max_;
scan.angle_increment = options.ang_increment_;
scan.scan_time = options.scan_time_.nanoseconds();
scan.scan_time = static_cast<float>(options.scan_time_.nanoseconds());
scan.range_min = PROJECTION_TEST_RANGE_MIN;
scan.range_max = PROJECTION_TEST_RANGE_MAX;
uint32_t i = 0;
@@ -86,7 +88,8 @@ sensor_msgs::msg::LaserScan build_constant_scan(const ScanOptions & options)
scan.intensities.push_back(options.intensity_);
}
scan.time_increment = options.scan_time_.nanoseconds() / static_cast<double>(i);
scan.time_increment =
static_cast<float>(options.scan_time_.nanoseconds() / static_cast<double>(i));
return scan;
}
@@ -101,39 +104,39 @@ TEST(laser_geometry, projectLaser2) {
double tolerance = 1e-12;
laser_geometry::LaserProjection projector;
std::vector<double> ranges, intensities, min_angles, max_angles, angle_increments;
std::vector<float> ranges, intensities, min_angles, max_angles, angle_increments;
std::vector<rclcpp::Duration> increment_times, scan_times;
ranges.push_back(-1.0);
ranges.push_back(1.0);
ranges.push_back(2.0);
ranges.push_back(3.0);
ranges.push_back(4.0);
ranges.push_back(5.0);
ranges.push_back(100.0);
ranges.push_back(-1.0f);
ranges.push_back(1.0f);
ranges.push_back(2.0f);
ranges.push_back(3.0f);
ranges.push_back(4.0f);
ranges.push_back(5.0f);
ranges.push_back(100.0f);
intensities.push_back(1.0);
intensities.push_back(2.0);
intensities.push_back(3.0);
intensities.push_back(4.0);
intensities.push_back(5.0);
intensities.push_back(1.0f);
intensities.push_back(2.0f);
intensities.push_back(3.0f);
intensities.push_back(4.0f);
intensities.push_back(5.0f);
min_angles.push_back(-M_PI);
min_angles.push_back(-M_PI / 1.5);
min_angles.push_back(-M_PI / 2);
min_angles.push_back(-M_PI / 4);
min_angles.push_back(-M_PI / 8);
min_angles.push_back(-PI);
min_angles.push_back(-PI / 1.5f);
min_angles.push_back(-PI / 2);
min_angles.push_back(-PI / 4);
min_angles.push_back(-PI / 8);
max_angles.push_back(M_PI);
max_angles.push_back(M_PI / 1.5);
max_angles.push_back(M_PI / 2);
max_angles.push_back(M_PI / 4);
max_angles.push_back(M_PI / 8);
max_angles.push_back(PI);
max_angles.push_back(PI / 1.5f);
max_angles.push_back(PI / 2);
max_angles.push_back(PI / 4);
max_angles.push_back(PI / 8);
angle_increments.push_back(-M_PI / 180); // -one degree
angle_increments.push_back(M_PI / 180); // one degree
angle_increments.push_back(M_PI / 360); // half degree
angle_increments.push_back(M_PI / 720); // quarter degree
angle_increments.push_back(-PI / 180); // -one degree
angle_increments.push_back(PI / 180); // one degree
angle_increments.push_back(PI / 360); // half degree
angle_increments.push_back(PI / 720); // quarter degree
scan_times.push_back(rclcpp::Duration(1 / 40));
scan_times.push_back(rclcpp::Duration(1 / 20));
@@ -234,7 +237,8 @@ TEST(laser_geometry, projectLaser2) {
EXPECT_NEAR(cloudData<float>(cloud_out, i * cloud_out.point_step + stamps_offset),
(float)i * scan.time_increment, tolerance); // timestamps
}
} catch (BuildScanException & ex) {
} catch (const BuildScanException & ex) {
(void) ex;
// make sure it is not a false exception
if ((option.ang_max_ - option.ang_min_) / option.ang_increment_ > 0.0) {
FAIL();