test_iterators.cpp
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00001 /*
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00036 
00037 #include <gtest/gtest.h>
00038 
00039 #include <iostream>  
00040 
00041 #include <sensor_msgs/PointCloud2.h>
00042 #include <pcl/io/pcd_io.h>
00043 #include <pcl/point_types.h>
00044 #include <pcl/point_cloud.h>
00045 
00046 typedef pcl::PointXYZ Point;
00047 typedef pcl::PointCloud<Point> PointCloud;
00048 
00049 PointCloud cloud;
00050 
00051 void 
00052 init () 
00053 {
00054   for (int x=-20; x<20; x++) 
00055     for (int y=-20; y<20; y++) 
00056       for (int z=-20; z<20; z++) 
00057         cloud.push_back (Point (static_cast<float> (x), static_cast<float> (y), static_cast<float> (z)));
00058 }
00059 
00061 
00062 TEST (PCL, Iterators) 
00063 {
00064   Point mean (0,0,0);
00065 
00066   for (PointCloud::iterator it = cloud.begin(); it != cloud.end(); ++it) 
00067   {
00068     for (int i=0;i<3;i++) mean.data[i] += it->data[i];
00069   }
00070   for (int i=0;i<3;i++) mean.data[i] /= static_cast<float> (cloud.size ());
00071 
00072   EXPECT_NEAR (mean.x, -0.5, 1e-4);
00073 }
00074 
00075 
00076 /* ---[ */
00077 int
00078 main (int argc, char** argv)
00079 {
00080   testing::InitGoogleTest (&argc, argv);
00081   init();
00082   return (RUN_ALL_TESTS ());
00083 }
00084 /* ]--- */


pcl
Author(s): Open Perception
autogenerated on Mon Oct 6 2014 03:18:19