direct_search_manager_test.cpp

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#include <algorithm>

#include "gtest/gtest.h"
#include "ros/ros.h"
#include "direct_search_manager.hpp"

using namespace directSearchWS;


TEST(DirectSearchManagerTest, CheckSearchedObjectTypesAreEquale) {
    SearchedObjectTypes SOT1;
    SearchedObjectTypes SOT2;

    ASSERT_TRUE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));

    SOT1.push_back("PlateDeep");
    ASSERT_FALSE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));

    SOT2.push_back("Marker4");
    ASSERT_FALSE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));

    SOT2.push_back("PlateDeep");
    ASSERT_FALSE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));

    SOT1.push_back("Marker4");
    ASSERT_TRUE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));

    SOT1.push_back("Marker4");
    ASSERT_FALSE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));

    SOT2.push_back("Marker4");
    ASSERT_TRUE(checkSearchedObjectTypesAreEquale(SOT1, SOT2));
}

TEST(DirectSearchManagerTest, GetSearchedObjectTypesFromAWithoutB) {
    SearchedObjectTypes A;
    SearchedObjectTypes B;
    SearchedObjectTypes AwithoutB;

    AwithoutB = getSearchedObjectTypesFromAWithoutB(A, B);
    EXPECT_EQ(0, AwithoutB.size());

    A.push_back("PlateDeep");
    B.push_back("Marker0");
    AwithoutB = getSearchedObjectTypesFromAWithoutB(A, B);
    ASSERT_EQ(1, AwithoutB.size());
    EXPECT_EQ("PlateDeep", AwithoutB[0]);

    B.push_back("PlateDeep");
    AwithoutB = getSearchedObjectTypesFromAWithoutB(A, B);
    ASSERT_EQ(0, AwithoutB.size());

    A.push_back("PlateDeep");
    AwithoutB = getSearchedObjectTypesFromAWithoutB(A, B);
    ASSERT_EQ(0, AwithoutB.size());

    B.push_back("Marker0");
    AwithoutB = getSearchedObjectTypesFromAWithoutB(A, B);
    ASSERT_EQ(0, AwithoutB.size());
}