test_failed_at_this_configuration.cpp

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#include <gtest/gtest.h>

#include <regex>

#include "fcl/geometry/shape/box.h"
#include "fcl/geometry/shape/sphere.h"
#include "fcl/narrowphase/detail/failed_at_this_configuration.h"
#include "fcl/narrowphase/detail/gjk_solver_libccd.h"

namespace fcl {
namespace detail {
namespace {

// We're testing for the following:
//
//   1. The exception message is included.
//   2. The shapes have had representation() called on them. We'll use two
//      different shapes to confirm they get ordered correctly.
//   3. The first matrix is printed with the first shape, the second with the
//      second.
//   4. The matrices have commas.
GTEST_TEST(ConfigurationFailureTest, ConfirmFormatting) {
  const Sphered sphere(1.5);
  const Transform3d X_WS(Translation3d(12, 13, 14));
  const Boxd box(1, 2, 3);
  const Transform3d X_WB(Translation3d(17, 18, 19));
  const GJKSolver_libccd<double> solver;
  const std::logic_error e("dummy message");

  try {
    ThrowDetailedConfiguration(sphere, X_WS, box, X_WB, solver, e);
  } catch (const std::logic_error& e) {
    EXPECT_TRUE(
        std::regex_search(e.what(), std::regex("[^]+dummy message[^]+")));

    // Shape<S> is evidence that representation() got called.
    std::regex ordered_shapes_re("[^]+Sphere<double>[^]+Box<double>[^]+");
    EXPECT_TRUE(std::regex_search(e.what(), ordered_shapes_re)) << e.what();

    // Commas and order; we're looking for the translation values in order
    // following commas.
    std::regex matrices_re(
        "[^]+X_FS1[^]+, 12,[^]+, 13,[^]+, 14,[^]+, 1;"
        "[^]+X_FS2[^]+, 17,[^]+, 18,[^]+, 19,[^]+, 1;");
    EXPECT_TRUE(std::regex_search(e.what(), matrices_re)) << e.what();
  }
}

}  // namespace
}  // namespace detail
}  // namespace fcl

//==============================================================================
int main(int argc, char* argv[]) {
  ::testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}