git commit -m "first commit"

navigations/costmap_queue/test/mbq_test.cpp

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+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2017, Locus Robotics
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ */
+#include <gtest/gtest.h>
+#include <costmap_queue/map_based_queue.h>
+#include <string>
+
+using costmap_queue::MapBasedQueue;
+
+void letter_test(MapBasedQueue<char>& q, const char test_letter)
+{
+  ASSERT_FALSE(q.isEmpty());
+  char c = q.front();
+  EXPECT_EQ(c, test_letter);
+  q.pop();
+}
+
+TEST(MapBasedQueue, emptyQueue)
+{
+  MapBasedQueue<char> q;
+  EXPECT_TRUE(q.isEmpty());
+  q.enqueue(1.0, 'A');
+  EXPECT_FALSE(q.isEmpty());
+}
+
+TEST(MapBasedQueue, checkOrdering)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(3.0, 'B');
+  q.enqueue(2.0, 'C');
+  q.enqueue(5.0, 'D');
+  q.enqueue(0.0, 'E');
+
+  std::string expected = "EACBD";
+  for (unsigned int i = 0; i < expected.size(); i++)
+  {
+    letter_test(q, expected[i]);
+  }
+  EXPECT_TRUE(q.isEmpty());
+}
+
+TEST(MapBasedQueue, checkDynamicOrdering)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(3.0, 'B');
+  q.enqueue(2.0, 'C');
+  q.enqueue(5.0, 'D');
+
+  std::string expected = "ACB";
+  for (unsigned int i = 0; i < expected.size(); i++)
+  {
+    letter_test(q, expected[i]);
+  }
+
+  q.enqueue(0.0, 'E');
+  letter_test(q, 'E');
+}
+
+TEST(MapBasedQueue, checkDynamicOrdering2)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(2.0, 'B');
+  letter_test(q, 'A');
+  q.enqueue(3.0, 'C');
+  letter_test(q, 'B');
+}
+
+TEST(MapBasedQueue, checkDynamicOrdering3)
+{
+  MapBasedQueue<char> q;
+  q.enqueue(1.0, 'A');
+  q.enqueue(2.0, 'B');
+  q.enqueue(5.0, 'D');
+  letter_test(q, 'A');
+  letter_test(q, 'B');
+  q.enqueue(1.0, 'C');
+  letter_test(q, 'C');
+  letter_test(q, 'D');
+}
+
+int main(int argc, char **argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}