| 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(); |
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2 | ps->robot(ps->createRobot("robot")); |
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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) { |
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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(); |
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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"); |
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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 |