00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage, Inc. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * 00035 */ 00036 00037 #include <gtest/gtest.h> 00038 00039 #include <iostream> 00040 00041 #include <sensor_msgs/PointCloud2.h> 00042 #include "pcl/io/pcd_io.h" 00043 #include <pcl/point_types.h> 00044 #include <pcl/point_cloud.h> 00045 00046 typedef pcl::PointXYZ Point; 00047 typedef pcl::PointCloud<Point> PointCloud; 00048 00049 PointCloud cloud; 00050 00051 void init () { 00052 00053 for (int x=-20; x<20; x++) { 00054 for (int y=-20; y<20; y++) { 00055 for (int z=-20; z<20; z++) { 00056 cloud.push_back( Point((float) x, (float) y, (float) z) ); 00057 } 00058 } 00059 } 00060 00061 } 00062 00064 00065 TEST (PCL, Iterators) { 00066 00067 Point mean (0,0,0); 00068 00069 for (PointCloud::iterator it = cloud.begin(); it != cloud.end(); ++it) { 00070 for (int i=0;i<3;i++) mean.data[i] += it->data[i]; 00071 } 00072 for (int i=0;i<3;i++) mean.data[i] /= (double) cloud.size(); 00073 00074 EXPECT_NEAR (mean.x, -0.5, 1e-4); 00075 } 00076 00077 00078 /* ---[ */ 00079 int 00080 main (int argc, char** argv) 00081 { 00082 testing::InitGoogleTest (&argc, argv); 00083 init(); 00084 return (RUN_ALL_TESTS ()); 00085 } 00086 /* ]--- */