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00039 #include <vector>
00040 #include <string>
00041 #include <sstream>
00042 #include <gtest/gtest.h>
00043
00044 #include "calibration_msgs/Interval.h"
00045 #include "interval_intersection/interval_intersection.hpp"
00046
00047 using namespace std;
00048 using namespace interval_intersection;
00049
00050 stringstream output_stream;
00051 typedef boost::function<void (const calibration_msgs::IntervalConstPtr &)> Input;
00052 vector<Input> inputs;
00053
00054 void publish(const calibration_msgs::Interval &interval)
00055 {
00056
00057 output_stream << "[" << interval.start << ", " << interval.end << "] ";
00058 }
00059
00060 void input_interval(ros::Time start, ros::Time end, int input_num) {
00061 boost::shared_ptr<calibration_msgs::Interval> interval(new calibration_msgs::Interval());
00062 interval->start = start;
00063 interval->end = end;
00064
00065 inputs[input_num](interval);
00066 }
00067
00068 TEST(Intersection, testCase1)
00069 {
00070
00071 IntervalIntersector intersector(&publish);
00072 int n = 3;
00073 for (int i=0; i<n; i++) {
00074 inputs.push_back(intersector.getNewInputStream());
00075 }
00076
00077
00078 typedef ros::Time T;
00079 input_interval(T(10), T(20), 0);
00080 input_interval(T(2), T(16), 1);
00081 input_interval(T(8), T(21), 2);
00082 input_interval(T(23), T(30), 0);
00083 input_interval(T(6), T(25), 1);
00084 input_interval(T(18), T(28), 2);
00085
00086 string correct_answer = "[10.000000000, 16.000000000] [10.000000000, 20.000000000] [23.000000000, 23.000000000] [23.000000000, 25.000000000] ";
00087 EXPECT_EQ(output_stream.str(), correct_answer);
00088 }
00089
00090
00091
00092 int main(int argc, char **argv){
00093 testing::InitGoogleTest(&argc, argv);
00094 return RUN_ALL_TESTS();
00095 }
00096
00097