test_mcl_3dl_compat.cpp

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/*
 * Copyright (c) 2018, the mcl_3dl authors
 * All rights reserved.
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <ros/ros.h>

#include <gtest/gtest.h>

#include <mcl_3dl_compat/compatibility.h>

TEST(Mcl3DlCompat, ParamRename)
{
  ros::NodeHandle nh;

  nh.setParam("param1", 1.0);
  nh.setParam("param2", 2.0);
  nh.setParam("param2_new", 3.0);
  nh.setParam("param3_new", 4.0);

  mcl_3dl_compat::paramRename<double>(nh, "param1_new", "param1");
  mcl_3dl_compat::paramRename<double>(nh, "param2_new", "param2");

  ASSERT_TRUE(nh.hasParam("param1_new"));
  ASSERT_TRUE(nh.hasParam("param2_new"));
  ASSERT_TRUE(nh.hasParam("param3_new"));

  double param1;
  double param2;
  double param3;
  nh.getParam("param1_new", param1);
  nh.getParam("param2_new", param2);
  nh.getParam("param3_new", param3);

  // Only old parameter is provided for param1.
  ASSERT_EQ(param1, 1.0);
  // Both old and new paramters are provided for param2. New one must be active.
  ASSERT_EQ(param2, 3.0);
  // Only new paramter is provided for param3.
  ASSERT_EQ(param3, 4.0);
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_mcl_3dl_compat");

  return RUN_ALL_TESTS();
}