test_calibration.cpp File Reference

This is a set of unit tests testing the calibration process. More...

#include "sr_utilities/calibration.hpp"
#include <gtest/gtest.h>
#include <ros/ros.h>
#include <vector>

Include dependency graph for test_calibration.cpp:

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Classes
class	CalibrationTest

Functions
int	main (int argc, char **argv)
	TEST (Calibration2Points, before)
	TEST (Calibration2Points, in)
	TEST (Calibration2Points, after)
	TEST (Calibration2Points, on)
	TEST (Calibration3Points, before)
	TEST (Calibration3Points, first_interval)
	TEST (Calibration3Points, second_interval)
	TEST (Calibration3Points, after)
	TEST (Calibration3Points, on)
	TEST (Calibration5Points, mixed_and_big_test)

Detailed Description

This is a set of unit tests testing the calibration process.

Author

Ugo Cupcic ugo@s.nosp@m.hado.nosp@m.wrobo.nosp@m.t.co.nosp@m.m

Date

Fri Jun 10 15:52:46 2011

Copyright 2011 Shadow Robot Company Ltd.

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 2 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Definition in file test_calibration.cpp.

Function Documentation

int main	(	int	argc,
		char **	argv
	)

Definition at line 393 of file test_calibration.cpp.

TEST	(	Calibration2Points	,
		before
	)

We test that the value generated by a two point table with a value asked before the table is correct: table: | 1.0 | 3.0 | | 2.0 | 5.0 |

calibration(0) = 1.0

Definition at line 58 of file test_calibration.cpp.

TEST	(	Calibration2Points	,
		in
	)

We test that the value generated by a two point table with a value asked in the table is correct: table: | 1.0 | 3.0 | | 2.0 | 5.0 |

calibration(1.5) = 4.0

Definition at line 86 of file test_calibration.cpp.

TEST	(	Calibration2Points	,
		after
	)

We test that the value generated by a two point table with a value asked after the table is correct: table: | 1.0 | 3.0 | | 2.0 | 5.0 |

calibration(3) = 7.0

Definition at line 113 of file test_calibration.cpp.

TEST	(	Calibration2Points	,
		on
	)

We test that the value generated by a two point table with a value asked on a point of the table is correct: table: | 1.0 | 3.0 | | 2.0 | 5.0 |

calibration(3) = 7.0

Definition at line 140 of file test_calibration.cpp.

TEST	(	Calibration3Points	,
		before
	)

We test that the value generated by a three point table with a value asked before the table is correct: table: | 1.0 | 3.0 | | 2.0 | 5.0 | | 3.0 | 4.0 |

calibration(0) = 1.0

Definition at line 175 of file test_calibration.cpp.

TEST	(	Calibration3Points	,
		first_interval
	)

We test that the value generated by a three point table with a value asked in the first interval is correct. table: | 1.0 | 3.0 | | 2.0 | 5.0 | | 3.0 | 4.0 |

calibration(1.5) = 4.0

Definition at line 206 of file test_calibration.cpp.

TEST	(	Calibration3Points	,
		second_interval
	)

We test that the value generated by a three point table with a value asked in the second interval is correct. table: | 1.0 | 3.0 | | 2.0 | 5.0 | | 3.0 | 4.0 |

calibration(2.5) = 4.5

Definition at line 237 of file test_calibration.cpp.

TEST	(	Calibration3Points	,
		after
	)

We test that the value generated by a three point table with a value asked after the table is correct. table: | 1.0 | 3.0 | | 2.0 | 5.0 | | 3.0 | 4.0 |

calibration(4.0) = 3.0

Definition at line 268 of file test_calibration.cpp.

TEST	(	Calibration3Points	,
		on
	)

We test that the value generated by a three point table with a value asked on a point of the table is correct. table: | 1.0 | 3.0 | | 2.0 | 5.0 | | 3.0 | 4.0 |

calibration(2.0) = 5.0

Definition at line 299 of file test_calibration.cpp.

TEST	(	Calibration5Points	,
		mixed_and_big_test
	)

We test that the values generated by a five points table with the table being initialised in the wrong order. table: | 1.0 | -2.0 | | 2.0 | 0.0 | | 3.0 | -4.0 | | 5.0 | 6.0 | | 10. | 0.0 |

calibration(0.0) = -4.0 calibration(1.0) = -2.0 calibration(1.5) = -1.0 calibration(2.0) = 0.0 calibration(2.5) = -2.0 calibration(3.0) = -4.0 calibration(4.0) = 1.0 calibration(5.0) = 6.0 calibration(7.5) = 3.0 calibration(10.) = 0.0 calibration(15.) = -6.0

Definition at line 345 of file test_calibration.cpp.