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124
navigations/nav_core2/test/bounds_test.cpp Executable file
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2018, 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 <nav_core2/bounds.h>
using nav_core2::Bounds;
using nav_core2::UIntBounds;
TEST(Bounds, test_bounds_simple)
{
Bounds b;
EXPECT_TRUE(b.isEmpty());
b.touch(5.0, 6.0);
EXPECT_EQ(5.0, b.getMinX());
EXPECT_EQ(5.0, b.getMinX());
EXPECT_EQ(5.0, b.getMaxX());
EXPECT_EQ(6.0, b.getMinY());
EXPECT_EQ(6.0, b.getMaxY());
EXPECT_TRUE(b.contains(5.0, 6.0));
EXPECT_FALSE(b.contains(5.5, 6.0));
EXPECT_FALSE(b.contains(5.5, 4.0));
EXPECT_FALSE(b.isEmpty());
Bounds b2 = b;
EXPECT_EQ(5.0, b2.getMinX());
EXPECT_EQ(5.0, b2.getMaxX());
EXPECT_EQ(6.0, b2.getMinY());
EXPECT_EQ(6.0, b2.getMaxY());
b.reset();
EXPECT_EQ(5.0, b2.getMinX());
EXPECT_EQ(5.0, b2.getMaxX());
EXPECT_EQ(6.0, b2.getMinY());
EXPECT_EQ(6.0, b2.getMaxY());
EXPECT_FALSE(b.contains(5.0, 6.0));
EXPECT_FALSE(b.contains(5.5, 6.0));
EXPECT_TRUE(b2.contains(5.0, 6.0));
EXPECT_FALSE(b.contains(5.5, 6.0));
EXPECT_TRUE(b.isEmpty());
Bounds b3;
b3.touch(1.0, 5.0);
b3.touch(4.0, 2.0);
EXPECT_TRUE(b3.contains(3.0, 3.0));
EXPECT_FALSE(b3.contains(0.0, 3.0));
EXPECT_FALSE(b3.contains(5.0, 3.0));
EXPECT_FALSE(b3.contains(3.0, 6.0));
EXPECT_FALSE(b3.contains(3.0, 1.0));
}
TEST(Bounds, test_dimensions)
{
UIntBounds empty;
UIntBounds square(0, 0, 5, 5);
UIntBounds rectangle(1, 4, 3, 15);
EXPECT_EQ(empty.getWidth(), 0u);
EXPECT_EQ(empty.getHeight(), 0u);
EXPECT_EQ(square.getWidth(), 6u);
EXPECT_EQ(square.getHeight(), 6u);
EXPECT_EQ(rectangle.getWidth(), 3u);
EXPECT_EQ(rectangle.getHeight(), 12u);
}
TEST(Bounds, test_bounds_overlap)
{
UIntBounds b0(0, 0, 5, 5);
UIntBounds b1(0, 0, 5, 5);
UIntBounds b2(0, 0, 3, 3);
UIntBounds b3(3, 0, 4, 4);
UIntBounds b4(4, 0, 4, 4);
UIntBounds b5(1, 4, 3, 15);
UIntBounds b6(10, 10, 10, 10);
EXPECT_TRUE(b0.overlaps(b0));
EXPECT_TRUE(b0.overlaps(b1));
EXPECT_TRUE(b0.overlaps(b2));
EXPECT_TRUE(b2.overlaps(b0));
EXPECT_TRUE(b0.overlaps(b3));
EXPECT_TRUE(b2.overlaps(b3));
EXPECT_FALSE(b2.overlaps(b4));
EXPECT_TRUE(b0.overlaps(b5));
EXPECT_TRUE(b5.overlaps(b0));
EXPECT_FALSE(b0.overlaps(b6));
EXPECT_FALSE(b6.overlaps(b0));
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}

133
navigations/nav_core2/test/exception_test.cpp Executable file
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2019, 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 <nav_core2/exceptions.h>
#include <string>
TEST(Exceptions, direct_code_access)
{
// Make sure the caught exceptions have the same types as the thrown exception
// (This version does not create any copies of the exception)
try
{
throw nav_core2::GlobalPlannerTimeoutException("test case");
}
catch (nav_core2::GlobalPlannerTimeoutException& x)
{
EXPECT_EQ(x.getResultCode(), 12);
}
try
{
throw nav_core2::GlobalPlannerTimeoutException("test case");
}
catch (nav_core2::PlannerException& x)
{
EXPECT_EQ(x.getResultCode(), 12);
}
}
TEST(Exceptions, indirect_code_access)
{
// Make sure the caught exceptions have the same types as the thrown exception
// (This version copies the exception to a new object with the parent type)
nav_core2::PlannerException e("");
try
{
throw nav_core2::GlobalPlannerTimeoutException("test case");
}
catch (nav_core2::GlobalPlannerTimeoutException& x)
{
e = x;
}
EXPECT_EQ(e.getResultCode(), 12);
}
TEST(Exceptions, rethrow)
{
// This version tests the ability to catch specific exceptions when rethrown
// A copy of the exception is made and rethrown, with the goal being able to catch the specific type
// and not the parent type.
nav_core2::NavCore2ExceptionPtr e;
try
{
throw nav_core2::GlobalPlannerTimeoutException("test case");
}
catch (nav_core2::GlobalPlannerTimeoutException& x)
{
e = std::current_exception();
}
EXPECT_EQ(nav_core2::getResultCode(e), 12);
try
{
std::rethrow_exception(e);
}
catch (nav_core2::GlobalPlannerTimeoutException& x)
{
EXPECT_EQ(x.getResultCode(), 12);
SUCCEED();
}
catch (nav_core2::PlannerException& x)
{
FAIL() << "PlannerException caught instead of specific exception";
}
}
TEST(Exceptions, weird_exception)
{
nav_core2::NavCore2ExceptionPtr e;
// Check what happens with no exception
EXPECT_EQ(nav_core2::getResultCode(e), -1);
// Check what happens with a non NavCore2Exception
try
{
std::string().at(1); // this generates an std::out_of_range
}
catch (...)
{
e = std::current_exception();
}
EXPECT_EQ(nav_core2::getResultCode(e), -1);
}
int main(int argc, char **argv)
{
testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}