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navigations/pluginlib/test/test_plugins.h

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+/*
+ * 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_