Program Listing for File eigen_gtest.hpp

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#ifndef FUSE_CORE__EIGEN_GTEST_HPP_
#define FUSE_CORE__EIGEN_GTEST_HPP_

#include <Eigen/Core>
#include <gtest/gtest.h>

namespace testing
{

template<typename Derived1, typename Derived2>
AssertionResult AssertMatrixEqualHelper(
  const char * e1,
  const char * e2,
  const Eigen::MatrixBase<Derived1> & v1,
  const Eigen::MatrixBase<Derived2> & v2)
{
  if (v1 == v2) {
    return AssertionSuccess();
  }

  Eigen::IOFormat clean(4, 0, ", ", "\n", "[", "]");
  return AssertionFailure() << e1 << " is:\n" << v1.format(clean) << "\n"
                            << e2 << " is:\n" << v2.format(clean) << "\n"
                            << "Difference is:\n" << (v1 - v2).format(clean) << "\n";
}

template<typename Derived1, typename Derived2>
AssertionResult AssertMatrixNearHelper(
  const char * e1,
  const char * e2,
  const Eigen::MatrixBase<Derived1> & v1,
  const Eigen::MatrixBase<Derived2> & v2,
  double tol)
{
  if ((v1 - v2).cwiseAbs().maxCoeff() < tol) {
    return AssertionSuccess();
  }

  Eigen::IOFormat clean(4, 0, ", ", "\n", "[", "]");
  return AssertionFailure() << e1 << " is:\n" << v1.format(clean) << "\n"
                            << e2 << " is:\n" << v2.format(clean) << "\n"
                            << "Difference is:\n" << (v1 - v2).format(clean) << "\n";
}

// Internal macro for implementing {EXPECT|ASSERT}_MATRIX_EQ.
// Don't use this in your code.
#define GTEST_MATRIX_EQUAL_(v1, v2, on_failure) \
  GTEST_ASSERT_( \
    ::testing::AssertMatrixEqualHelper( \
      #v1, \
      #v2, \
      v1, \
      v2), on_failure)

// Internal macro for implementing {EXPECT|ASSERT}_MATRIX_NEAR.
// Don't use this in your code.
#define GTEST_MATRIX_NEAR_(v1, v2, tol, on_failure) \
  GTEST_ASSERT_( \
    ::testing::AssertMatrixNearHelper( \
      #v1, \
      #v2, \
      v1, \
      v2, \
      tol), on_failure)

// Define gtest macros for use with Eigen

#define EXPECT_MATRIX_EQ(v1, v2) \
  GTEST_MATRIX_EQUAL_(v1, v2, GTEST_NONFATAL_FAILURE_)

#define ASSERT_MATRIX_EQ(v1, v2) \
  GTEST_MATRIX_EQUAL_(v1, v2, GTEST_FATAL_FAILURE_)

#define EXPECT_MATRIX_NEAR(v1, v2, tol) \
  GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_NONFATAL_FAILURE_)

#define ASSERT_MATRIX_NEAR(v1, v2, tol) \
  GTEST_MATRIX_NEAR_(v1, v2, tol, GTEST_FATAL_FAILURE_)

}  // namespace testing

#endif  // FUSE_CORE__EIGEN_GTEST_HPP_