| Directory: | ./ |
|---|---|
| File: | tests/plugin.cc |
| Date: | 2024-12-13 16:14:03 |
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| 1 | // Copyright (c) 2019, Joseph Mirabel | ||
| 2 | // Authors: Joseph Mirabel (joseph.mirabel@laas.fr) | ||
| 3 | // | ||
| 4 | // Redistribution and use in source and binary forms, with or without | ||
| 5 | // modification, are permitted provided that the following conditions are | ||
| 6 | // met: | ||
| 7 | // | ||
| 8 | // 1. Redistributions of source code must retain the above copyright | ||
| 9 | // notice, this list of conditions and the following disclaimer. | ||
| 10 | // | ||
| 11 | // 2. Redistributions in binary form must reproduce the above copyright | ||
| 12 | // notice, this list of conditions and the following disclaimer in the | ||
| 13 | // documentation and/or other materials provided with the distribution. | ||
| 14 | // | ||
| 15 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| 16 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| 17 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
| 18 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
| 19 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
| 20 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
| 21 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
| 22 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
| 23 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
| 24 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| 25 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
| 26 | // DAMAGE. | ||
| 27 | |||
| 28 | #define BOOST_TEST_MODULE plugin | ||
| 29 | #include <pinocchio/fwd.hpp> | ||
| 30 | #include <boost/test/included/unit_test.hpp> | ||
| 31 | |||
| 32 | #include <hpp/core/plugin.hh> | ||
| 33 | #include <hpp/core/problem-solver.hh> | ||
| 34 | |||
| 35 | using namespace hpp::core; | ||
| 36 | |||
| 37 |
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4 | BOOST_AUTO_TEST_CASE (load_plugin) |
| 38 | { | ||
| 39 |
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2 | ProblemSolverPtr_t ps = ProblemSolver::create(); |
| 40 | |||
| 41 |
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4 | std::string lib ("/root/robotpkg/path/hpp-core/work/hpp-core-6.0.0/tests/plugin-test/example.so"); |
| 42 |
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2 | BOOST_CHECK (plugin::loadPlugin (lib, ps)); |
| 43 | |||
| 44 |
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2 | BOOST_CHECK (ps->distances.has ("WeighedDuplicate")); |
| 45 | |||
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2 | delete ps; |
| 47 | 2 | } | |
| 48 |