git commit -m "first commit"

navigations/pluginlib/test/test_base.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 OWNER 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.
+ */
+
+#ifndef TEST_BASE_H_
+#define TEST_BASE_H_
+
+namespace test_base
+{
+class Fubar
+{
+public:
+  virtual void initialize(double foo) = 0;
+  virtual double result() = 0;
+  virtual ~Fubar() {}
+
+protected:
+  Fubar() {}
+};
+}  // namespace test_base
+#endif  // TEST_BASE_H_

navigations/pluginlib/test/test_plugins.cpp

@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 OWNER 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 <pluginlib/class_list_macros.hpp>
+#include "./test_base.h"
+#include "test_plugins.h"  // NOLINT
+
+PLUGINLIB_EXPORT_CLASS(test_plugins::Foo, test_base::Fubar)
+PLUGINLIB_EXPORT_CLASS(test_plugins::Bar, test_base::Fubar)

navigations/pluginlib/test/test_plugins.h

@@ -0,0 +1,82 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 OWNER 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.
+ */
+
+#ifndef TEST_PLUGINS_H_
+#define TEST_PLUGINS_H_
+
+#include <cmath>
+
+#include "./test_base.h"
+
+namespace test_plugins
+{
+class Bar : public test_base::Fubar
+{
+public:
+  Bar() {}
+
+  void initialize(double foo)
+  {
+    foo_ = foo;
+  }
+
+  double result()
+  {
+    return 0.5 * foo_ * getBar();
+  }
+
+  double getBar()
+  {
+    return sqrt((foo_ * foo_) - ((foo_ / 2) * (foo_ / 2)));
+  }
+
+private:
+  double foo_;
+};
+
+class Foo : public test_base::Fubar
+{
+public:
+  Foo() {}
+
+  void initialize(double foo)
+  {
+    foo_ = foo;
+  }
+
+  double result()
+  {
+    return foo_ * foo_;
+  }
+
+private:
+  double foo_;
+};
+}  // namespace test_plugins
+#endif  // TEST_PLUGINS_H_

navigations/pluginlib/test/test_plugins.xml

@@ -0,0 +1,11 @@
+<library path="lib/libtest_plugins">
+  <class name="pluginlib/foo" type="test_plugins::Foo" base_class_type="test_base::Fubar">
+    <description>This is a foo plugin.</description>
+  </class>
+  <class name="pluginlib/bar" type="test_plugins::Bar" base_class_type="test_base::Fubar">
+    <description>This is a bar plugin.</description>
+  </class>
+  <class name="pluginlib/none" type="test_plugins::None" base_class_type="test_base::Fubar">
+    <description>This is a broken none plugin.</description>
+  </class>
+</library>

navigations/pluginlib/test/test_plugins_broken.xml

@@ -0,0 +1,5 @@
+<library path="lib/libtest_plugins">
+  <class name="pluginlib/foo" name="test_plugins::Foo" base_class_type="test_base::Fubar">
+    <description>This is a foo plugin.</description>
+  </class>
+</library>

navigations/pluginlib/test/unique_ptr_test.cpp

@@ -0,0 +1,99 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 OWNER 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 <pluginlib/class_loader.hpp>
+
+#include "./test_base.h"
+
+TEST(PluginlibUniquePtrTest, unknownPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
+  ASSERT_THROW(test_loader.createUniqueInstance("pluginlib/foobar"),
+    pluginlib::LibraryLoadException);
+}
+
+
+TEST(PluginlibUniquePtrTest, misspelledPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib", "test_base::Fuba");
+  ASSERT_THROW(bad_test_loader.createUniqueInstance(
+      "pluginlib/foo"), pluginlib::LibraryLoadException);
+}
+
+TEST(PluginlibTest, brokenPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
+  ASSERT_THROW(test_loader.createUniqueInstance("pluginlib/none"), pluginlib::PluginlibException);
+}
+
+TEST(PluginlibUniquePtrTest, workingPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
+
+  try {
+    pluginlib::UniquePtr<test_base::Fubar> foo = test_loader.createUniqueInstance("pluginlib/foo");
+    foo->initialize(10.0);
+    EXPECT_EQ(100.0, foo->result());
+  } catch (pluginlib::PluginlibException & ex) {
+    FAIL() << "Throwing exception: " << ex.what();
+    return;
+  } catch (...) {
+    FAIL() << "Uncaught exception";
+  }
+}
+
+TEST(PluginlibUniquePtrTest, createUniqueInstanceAndUnloadLibrary) {
+  ROS_INFO("Making the ClassLoader...");
+  pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
+
+  ROS_INFO("Instantiating plugin...");
+  {
+    pluginlib::UniquePtr<test_base::Fubar> inst = pl.createUniqueInstance("pluginlib/foo");
+  }
+
+  ROS_INFO("Checking if plugin is loaded with isClassLoaded...");
+  if (pl.isClassLoaded("pluginlib/foo")) {
+    ROS_INFO("Class is loaded");
+  } else {
+    FAIL() << "Library containing class should be loaded but isn't.";
+  }
+
+  ROS_INFO("Trying to unload class with unloadLibraryForClass...");
+  try {
+    pl.unloadLibraryForClass("pluginlib/foo");
+  } catch (pluginlib::PluginlibException & e) {
+    FAIL() << "Could not unload library when I should be able to.";
+  }
+  ROS_INFO("Done.");
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

navigations/pluginlib/test/utest.cpp

@@ -0,0 +1,140 @@
+/*
+ * Copyright (c) 2012, Willow Garage, Inc.
+ * 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 Willow Garage, Inc. 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 OWNER 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 <pluginlib/class_loader.hpp>
+
+#include "./test_base.h"
+
+TEST(PluginlibTest, unknownPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
+  ASSERT_THROW(test_loader.createInstance("pluginlib/foobar"), pluginlib::LibraryLoadException);
+}
+
+TEST(PluginlibTest, misspelledPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> bad_test_loader("pluginlib", "test_base::Fuba");
+  ASSERT_THROW(bad_test_loader.createInstance("pluginlib/foo"), pluginlib::LibraryLoadException);
+}
+
+TEST(PluginlibTest, invalidPackage) {
+  ASSERT_THROW(pluginlib::ClassLoader<test_base::Fubar>("pluginlib_bad",
+    "test_base::Fubar"),
+    pluginlib::ClassLoaderException);
+}
+
+TEST(PluginlibTest, brokenPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
+  ASSERT_THROW(test_loader.createInstance("pluginlib/none"), pluginlib::PluginlibException);
+}
+
+TEST(PluginlibTest, workingPlugin) {
+  pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar");
+
+  try {
+    boost::shared_ptr<test_base::Fubar> foo = test_loader.createInstance("pluginlib/foo");
+    foo->initialize(10.0);
+    EXPECT_EQ(100.0, foo->result());
+  } catch (pluginlib::PluginlibException & ex) {
+    FAIL() << "Throwing exception: " << ex.what();
+    return;
+  } catch (...) {
+    FAIL() << "Uncaught exception";
+  }
+}
+
+TEST(PluginlibTest, createUnmanagedInstanceAndUnloadLibrary) {
+  ROS_INFO("Making the ClassLoader...");
+  pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
+
+  ROS_INFO("Instantiating plugin...");
+  test_base::Fubar * inst = pl.createUnmanagedInstance("pluginlib/foo");
+
+  ROS_INFO("Deleting plugin...");
+  delete inst;
+
+  ROS_INFO("Checking if plugin is loaded with isClassLoaded...");
+  if (pl.isClassLoaded("pluginlib/foo")) {
+    ROS_INFO("Class is loaded");
+  } else {
+    FAIL() << "Library containing class should be loaded but isn't.";
+  }
+  ROS_INFO("Trying to unload class with unloadLibraryForClass...");
+  try {
+    pl.unloadLibraryForClass("pluginlib/foo");
+  } catch (pluginlib::PluginlibException & e) {
+    FAIL() << "Could not unload library when I should be able to.";
+  }
+  ROS_INFO("Done.");
+}
+
+TEST(PluginlibTest, createManagedInstanceAndUnloadLibrary) {
+  ROS_INFO("Making the ClassLoader...");
+  pluginlib::ClassLoader<test_base::Fubar> pl("pluginlib", "test_base::Fubar");
+
+  ROS_INFO("Instantiating plugin...");
+  {
+    boost::shared_ptr<test_base::Fubar> inst = pl.createInstance("pluginlib/foo");
+  }
+
+  ROS_INFO("Checking if plugin is loaded with isClassLoaded...");
+  if (pl.isClassLoaded("pluginlib/foo")) {
+    ROS_INFO("Class is loaded");
+  } else {
+    FAIL() << "Library containing class should be loaded but isn't.";
+  }
+
+  ROS_INFO("Trying to unload class with unloadLibraryForClass...");
+  try {
+    pl.unloadLibraryForClass("pluginlib/foo");
+  } catch (pluginlib::PluginlibException & e) {
+    FAIL() << "Could not unload library when I should be able to.";
+  }
+  ROS_INFO("Done.");
+}
+
+TEST(PluginlibTest, brokenXML) {
+  try {
+    pluginlib::ClassLoader<test_base::Fubar> test_loader("pluginlib", "test_base::Fubar",
+      "plugin_test");
+    test_loader.createInstance("pluginlib/foo");
+  } catch (pluginlib::PluginlibException & ex) {
+    SUCCEED();
+    return;
+  }
+
+  ADD_FAILURE() << "Didn't throw exception as expected";
+}
+
+// Run all the tests that were declared with TEST()
+int main(int argc, char ** argv)
+{
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}