array_parser_test.cpp
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00001 /*
00002  * Copyright (c) 2012, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <gtest/gtest.h>
00031 
00032 #include "costmap_2d/array_parser.h"
00033 
00034 using namespace costmap_2d;
00035 
00036 TEST(array_parser, basic_operation)
00037 {
00038   std::string error;
00039   std::vector<std::vector<float> > vvf;
00040   vvf = parseVVF( "[[1, 2.2], [.3, -4e4]]", error );
00041   EXPECT_EQ( 2, vvf.size() );
00042   EXPECT_EQ( 2, vvf[0].size() );
00043   EXPECT_EQ( 2, vvf[1].size() );
00044   EXPECT_EQ( 1.0f, vvf[0][0] );
00045   EXPECT_EQ( 2.2f, vvf[0][1] );
00046   EXPECT_EQ( 0.3f, vvf[1][0] );
00047   EXPECT_EQ( -40000.0f, vvf[1][1] );
00048   EXPECT_EQ( "", error );
00049 }
00050 
00051 TEST(array_parser, missing_open)
00052 {
00053   std::string error;
00054   std::vector<std::vector<float> > vvf;
00055   vvf = parseVVF( "[1, 2.2], [.3, -4e4]]", error );
00056   EXPECT_FALSE( error == "" );
00057 }
00058 
00059 TEST(array_parser, missing_close)
00060 {
00061   std::string error;
00062   std::vector<std::vector<float> > vvf;
00063   vvf = parseVVF( "[[1, 2.2], [.3, -4e4]", error );
00064   EXPECT_FALSE( error == "" );
00065 }
00066 
00067 TEST(array_parser, wrong_depth)
00068 {
00069   std::string error;
00070   std::vector<std::vector<float> > vvf;
00071   vvf = parseVVF( "[1, 2.2], [.3, -4e4]", error );
00072   EXPECT_FALSE( error == "" );
00073 }
00074 
00075 int main(int argc, char** argv)
00076 {
00077   testing::InitGoogleTest( &argc, argv );
00078   return RUN_ALL_TESTS();
00079 }
00080 


costmap_2d
Author(s): Eitan Marder-Eppstein, David V. Lu!!, Dave Hershberger, contradict@gmail.com
autogenerated on Wed Aug 2 2017 03:12:21