test_params.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <gtest/gtest.h>
#include <sys/time.h>
#include "filters/param_test.h"

using namespace filters ;



TEST(Parameters, Double)
{
  ros::NodeHandle nh;
  double epsilon = 1e-6;
  
  FilterBase<double > * filter = new ParamTest<double>  ();
  EXPECT_TRUE(filter->configure("TestDouble", nh));
  double out;
  filter -> update(out, out);
  EXPECT_NEAR(4,  out, epsilon);
}

TEST(Parameters, Int)
{
  ros::NodeHandle nh;
  
  FilterBase<int> * filter = new ParamTest<int>  ();
  EXPECT_TRUE(filter->configure("TestInt", nh));
  int out;
  filter -> update(out, out);
  EXPECT_EQ(4,  out);
}

TEST(Parameters, UInt)
{
  ros::NodeHandle nh;
  
  FilterBase<unsigned int> * filter = new ParamTest<unsigned int>  ();
  EXPECT_TRUE(filter->configure("TestUInt", nh));
  unsigned int out;
  filter -> update(out, out);
  EXPECT_EQ(4,  out);
}

TEST(Parameters, String)
{
  ros::NodeHandle nh;
  
  FilterBase<std::string> * filter = new ParamTest<std::string>  ();
  EXPECT_TRUE(filter->configure("TestString", nh));
  std::string out;
  filter -> update(out, out);
  EXPECT_STREQ("four",  out.c_str());
}

TEST(Parameters, DoubleVector)
{
  ros::NodeHandle nh;
  double epsilon = 1e-6;
  
  FilterBase<std::vector<double> > * filter = new ParamTest<std::vector<double> >  ();
  EXPECT_TRUE(filter->configure("TestDoubleVector", nh));
  std::vector<double> out;
  filter -> update(out, out);
  for (std::vector<double>::iterator it = out.begin(); it != out.end(); ++it)
    {
      EXPECT_NEAR(4,  *it, epsilon);
    }
}

TEST(Parameters, StringVector)
{
  ros::NodeHandle nh;
  
  FilterBase<std::vector<std::string> > * filter = new ParamTest<std::vector<std::string> >  ();
  EXPECT_TRUE(filter->configure("TestStringVector", nh));
  std::vector<std::string> out;
  filter -> update(out, out);
  for (std::vector<std::string>::iterator it = out.begin(); it != out.end(); ++it)
    {
      EXPECT_STREQ("four",  it->c_str());
    }
}


int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_mean");
  return RUN_ALL_TESTS();
}