representation_util.h

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#ifndef FCL_SHAPE_REPRESENTATION_UTIL_H
#define FCL_SHAPE_REPRESENTATION_UTIL_H
 
#include <regex>
 
#include <gtest/gtest.h>
 
namespace fcl {
namespace detail {
 
// For the representation() method we just need to show that it outputs
// a string that can be used to instantiate the shape. It is sufficient to show
// that it outputs *a* valid format (and not necessarily the original).
//
// It may be that formatting standards change, it's alright to reformulate
// the code captured here or the representation() method implementation to keep
// this test passing.
//
// To that end, we'll use a code string that gets converted into a string and
// gets compiled and confirm that it is equal to the string given by
// representation() (modulo some whitespace artifacts).
#define INSTANTIATE_AND_SAVE_STRING(code) \
  const std::string code_string(#code);   \
  const auto shape = code;
 
// Given the shape and a string comprising the code that constructs it, confirms
// two things:
//
//   1. With "sufficient" precision, the representation() of the shape matches
//      the given code string.
//   2. With "insufficient" precision, they don't match.
//
// Note: The parameters for the shape should have *at least* two digits of
// precision for this test to work (e.g., prefer 1.5 to 1). But within that
// requirement, things will work best if the values are perfectly represented
// by floating point values.
template <typename Shape>
::testing::AssertionResult ValidateRepresentation(
    const Shape& shape, const std::string& code_string) {
  bool success = true;
  ::testing::AssertionResult failure = ::testing::AssertionFailure();
  // Normalize whitespace; newlines and blocks of spaces become single spaces.
  const std::regex whitespace_re("[\\s\\n]+");
  const std::string expected =
      std::regex_replace(code_string, whitespace_re, " ");
 
  // Confirm precision matters. We get an exact match with sufficient precision.
  // Insufficient precision causes round-off and the strings don't match.
  {
    const std::string tested =
        std::regex_replace(shape.representation(20), whitespace_re, " ");
    if (tested != expected) {
        success = false;
      failure
          << "Representation string mismatch with sufficient precision:"
          << "\n  expected: " << expected
          << "\n  tested: " << tested;
    }
  }
  {
    const std::string tested =
        std::regex_replace(shape.representation(1), whitespace_re, " ");
    if (tested == expected) {
        success = false;
      failure
          << "Representation string still matches with insufficient precision:"
          << "\n  expected: " << expected
          << "\n  tested: " << tested;
    }
  }
  if (success) {
    return ::testing::AssertionSuccess();
  }
  return failure;
}
 
}  // namespace detail
}  // namespace fcl
 
#endif  // FCL_SHAPE_REPRESENTATION_UTIL_H