| Directory: | ./ |
|---|---|
| File: | tests/test-operations.cc |
| Date: | 2025-03-07 12:08:39 |
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| Lines: | 14 | 14 | 100.0% |
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| 1 | // Copyright (C) 2016 LAAS-CNRS | ||
| 2 | // Author: Anna Seppala | ||
| 3 | // | ||
| 4 | // This file is part of the hpp-affordance. | ||
| 5 | // | ||
| 6 | // hpp-affordance is free software: you can redistribute it and/or modify | ||
| 7 | // it under the terms of the GNU Lesser General Public License as published by | ||
| 8 | // the Free Software Foundation, either version 3 of the License, or | ||
| 9 | // (at your option) any later version. | ||
| 10 | // | ||
| 11 | // hpp-affordance is distributed in the hope that it will be useful, | ||
| 12 | // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| 13 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| 14 | // GNU Lesser General Public License for more details. | ||
| 15 | // | ||
| 16 | // You should have received a copy of the GNU Lesser General Public License | ||
| 17 | // along with hpp-affordance. If not, see <http://www.gnu.org/licenses/>. | ||
| 18 | |||
| 19 | #include <hpp/affordance/fwd.hh> | ||
| 20 | #include <hpp/affordance/operations.hh> | ||
| 21 | |||
| 22 | #define BOOST_TEST_MODULE test - operations | ||
| 23 | #include <boost/test/included/unit_test.hpp> | ||
| 24 | |||
| 25 | using namespace hpp; | ||
| 26 | const double epsilon = 10e-6; | ||
| 27 | |||
| 28 | 1 | bool compDouble(const double a, const double b) { return a - b < epsilon; } | |
| 29 | |||
| 30 | 1 | bool compVec(const coal::Vec3f& a, const coal::Vec3f& b) { | |
| 31 |
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1 | return (a - b).norm() < epsilon; |
| 32 | } | ||
| 33 | |||
| 34 | BOOST_AUTO_TEST_SUITE(test_affordance) | ||
| 35 | |||
| 36 |
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4 | BOOST_AUTO_TEST_CASE(operations) { |
| 37 | hpp::affordance::SupportOperationPtr_t support( | ||
| 38 |
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2 | new hpp::affordance::SupportOperation(0.3)); |
| 39 | hpp::affordance::LeanOperationPtr_t lean( | ||
| 40 |
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2 | new hpp::affordance::LeanOperation(0.1)); |
| 41 | |||
| 42 | 2 | std::vector<hpp::affordance::OperationBasePtr_t> operations; | |
| 43 |
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2 | operations.push_back(support); |
| 44 |
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2 | operations.push_back(lean); |
| 45 | |||
| 46 |
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2 | const coal::Vec3f normal1(0, 0, 1); |
| 47 | |||
| 48 |
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2 | BOOST_CHECK_MESSAGE(compVec(support->zWorld_, normal1), |
| 49 | "default value for zWorld should be " | ||
| 50 | << normal1 << " but is " << support->zWorld_); | ||
| 51 | |||
| 52 |
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2 | BOOST_CHECK_MESSAGE( |
| 53 | compDouble(lean->margin_, 0.1), | ||
| 54 | "margin should match the one given when creating operation"); | ||
| 55 | |||
| 56 |
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2 | BOOST_CHECK_MESSAGE( |
| 57 | operations.size() == 2, | ||
| 58 | "operation vector should have size 2 after adding support and lean"); | ||
| 59 | 2 | } | |
| 60 | BOOST_AUTO_TEST_SUITE_END() | ||
| 61 |