test_realtime_circular_buffer.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <gtest/gtest.h>
00031 #include <sys/time.h>
00032 
00033 #include <vector>
00034 #include "filters/realtime_circular_buffer.h"
00035 
00036 using namespace filters ;
00037 
00038 void seed_rand()
00039 {
00040   //Seed random number generator with current microseond count
00041   timeval temp_time_struct;
00042   gettimeofday(&temp_time_struct,NULL);
00043   srand(temp_time_struct.tv_usec);
00044 };
00045 
00046 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues)
00047 {
00048   seed_rand();
00049   for ( uint64_t i = 0; i < runs ; i++ )
00050   {
00051     xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
00052     yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
00053     zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
00054   }
00055 }
00056 
00057 TEST(RealtimeCircularBuffer, InitializationScalar)
00058 {
00059   
00060   RealtimeCircularBuffer<double> buf(3, 0);
00061   for (unsigned int i = 0; i < buf.size(); i ++)
00062   {
00063     EXPECT_EQ(buf[i], 0);
00064   }
00065 }
00066 TEST(RealtimeCircularBuffer, InitializationVector)
00067 {
00068   std::vector<double> init_vector;
00069   for (unsigned int i = 0; i < 100; i ++)
00070     init_vector.push_back(i);
00071   
00072   RealtimeCircularBuffer<std::vector<double> > vec_buf(3, init_vector);
00073   for (unsigned int i = 0; i < vec_buf.size(); i ++)
00074   {
00075     for (unsigned int j = 0; j < 100; j ++)
00076       EXPECT_EQ(vec_buf[i][j], j);
00077   }
00078 }
00079 
00080 
00081 int main(int argc, char **argv){
00082   testing::InitGoogleTest(&argc, argv);
00083   return RUN_ALL_TESTS();
00084 }


filters
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autogenerated on Sat Jun 8 2019 19:38:00