Directory: | ./ |
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File: | tests/test-config-validations.cc |
Date: | 2024-08-10 11:29:48 |
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1 | // | ||
2 | // Copyright (c) 2018 CNRS | ||
3 | // Authors: Diane Bury | ||
4 | // | ||
5 | |||
6 | // Redistribution and use in source and binary forms, with or without | ||
7 | // modification, are permitted provided that the following conditions are | ||
8 | // met: | ||
9 | // | ||
10 | // 1. Redistributions of source code must retain the above copyright | ||
11 | // notice, this list of conditions and the following disclaimer. | ||
12 | // | ||
13 | // 2. Redistributions in binary form must reproduce the above copyright | ||
14 | // notice, this list of conditions and the following disclaimer in the | ||
15 | // documentation and/or other materials provided with the distribution. | ||
16 | // | ||
17 | // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
18 | // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
19 | // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR | ||
20 | // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT | ||
21 | // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, | ||
22 | // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT | ||
23 | // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, | ||
24 | // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY | ||
25 | // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT | ||
26 | // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
27 | // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH | ||
28 | // DAMAGE. | ||
29 | |||
30 | #define BOOST_TEST_MODULE test_config_validations | ||
31 | |||
32 | #include <boost/test/included/unit_test.hpp> | ||
33 | #include <hpp/core/config-validations.hh> | ||
34 | #include <hpp/core/problem-solver.hh> | ||
35 | #include <hpp/core/problem.hh> | ||
36 | #include <pinocchio/fwd.hpp> | ||
37 | |||
38 | using namespace hpp::core; | ||
39 | |||
40 | typedef std::vector<std::string> ConfigValidationTypes_t; | ||
41 | |||
42 |
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4 | BOOST_AUTO_TEST_CASE(config_validations) { |
43 |
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2 | ProblemSolverPtr_t ps = ProblemSolver::create(); |
44 |
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2 | ps->robot(ps->createRobot("robot")); |
45 |
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2 | ConfigValidationTypes_t configTypes = ps->configValidationTypes(); |
46 |
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2 | BOOST_CHECK_MESSAGE(std::find(configTypes.begin(), configTypes.end(), |
47 | "CollisionValidation") != configTypes.end(), | ||
48 | "CollisionValidation is not present"); | ||
49 |
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2 | BOOST_CHECK_MESSAGE(std::find(configTypes.begin(), configTypes.end(), |
50 | "JointBoundValidation") != configTypes.end(), | ||
51 | "JointBoundValidation is not present"); | ||
52 | |||
53 | 2 | ProblemPtr_t problem = ps->problem(); | |
54 | 2 | ConfigValidationsPtr_t configValidations = problem->configValidations(); | |
55 |
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2 | BOOST_CHECK_MESSAGE(configValidations->numberConfigValidations() == 2, |
56 | "ConfigValidations not set right in Problem"); | ||
57 | 2 | } | |
58 | |||
59 |
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4 | BOOST_AUTO_TEST_CASE(test_add_config_validation) { |
60 |
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2 | ProblemSolverPtr_t ps = ProblemSolver::create(); |
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2 | ps->robot(ps->createRobot("robot")); |
62 | 2 | ProblemPtr_t problem = ps->problem(); | |
63 | |||
64 |
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2 | ps->clearConfigValidations(); |
65 |
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2 | BOOST_CHECK_MESSAGE( |
66 | problem->configValidations()->numberConfigValidations() == 0, | ||
67 | "Clearing ConfigValidations did not work"); | ||
68 | |||
69 |
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2 | ps->addConfigValidation("CollisionValidation"); |
70 |
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2 | BOOST_CHECK_MESSAGE( |
71 | problem->configValidations()->numberConfigValidations() == 1, | ||
72 | "Adding CollisionValidation to the ProblemSolver did not work"); | ||
73 | 2 | } | |
74 |