| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #define BOOST_TEST_MODULE test_curve_constraints | ||
| 2 | |||
| 3 | #include <boost/test/included/unit_test.hpp> | ||
| 4 | |||
| 5 | #include "ndcurves/bezier_curve.h" | ||
| 6 | #include "ndcurves/fwd.h" | ||
| 7 | |||
| 8 | using namespace ndcurves; | ||
| 9 | |||
| 10 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 11 | |||
| 12 |
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4 | BOOST_AUTO_TEST_CASE(copy_constructor) { |
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2 | bezier_t::curve_constraints_t constraints(3); |
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2 | constraints.init_vel = point3_t(-1, -1, -1); |
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2 | constraints.init_acc = point3_t(-2, -2, -2); |
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2 | constraints.init_jerk = point3_t(1, 2, 3); |
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2 | constraints.end_vel = point3_t(-10, -10, -10); |
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2 | constraints.end_acc = point3_t(-20, -20, -20); |
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2 | constraints.end_jerk = point3_t(-1, -2, -3); |
| 20 | |||
| 21 |
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2 | bezier_t::curve_constraints_t constraints2(constraints); |
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2 | BOOST_CHECK_EQUAL(constraints.dim_, constraints2.dim_); |
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2 | BOOST_CHECK_EQUAL(constraints.init_vel, constraints2.init_vel); |
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2 | BOOST_CHECK_EQUAL(constraints.init_acc, constraints2.init_acc); |
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2 | BOOST_CHECK_EQUAL(constraints.init_jerk, constraints2.init_jerk); |
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2 | BOOST_CHECK_EQUAL(constraints.end_vel, constraints2.end_vel); |
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2 | BOOST_CHECK_EQUAL(constraints.end_vel, constraints2.end_vel); |
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2 | BOOST_CHECK_EQUAL(constraints.end_jerk, constraints2.end_jerk); |
| 29 | 2 | } | |
| 30 | |||
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4 | BOOST_AUTO_TEST_CASE(operator_equal) { |
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2 | bezier_t::curve_constraints_t constraints(3); |
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2 | constraints.init_vel = point3_t(-1, -1, -1); |
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2 | constraints.init_acc = point3_t(-2, -2, -2); |
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2 | constraints.init_jerk = point3_t(1, 2, 3); |
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2 | constraints.end_vel = point3_t(-10, -10, -10); |
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2 | constraints.end_acc = point3_t(-20, -20, -20); |
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2 | constraints.end_jerk = point3_t(-1, -2, -3); |
| 39 | |||
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2 | bezier_t::curve_constraints_t constraints2(constraints); |
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2 | BOOST_CHECK(constraints == constraints2); |
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2 | constraints2.init_vel = point3_t(1, 1, 1); |
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2 | BOOST_CHECK(constraints != constraints2); |
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2 | constraints2.init_vel = constraints.init_vel; |
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2 | constraints2.init_acc = point3_t(1, 1, 1); |
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2 | BOOST_CHECK(constraints != constraints2); |
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2 | constraints2.init_acc = constraints.init_acc; |
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2 | constraints2.init_jerk = point3_t(1, 1, 1); |
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2 | BOOST_CHECK(constraints != constraints2); |
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2 | constraints2.init_jerk = constraints.init_jerk; |
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2 | constraints2.end_vel = point3_t(1, 1, 1); |
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2 | BOOST_CHECK(constraints != constraints2); |
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2 | constraints2.end_vel = constraints.end_vel; |
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2 | constraints2.end_acc = point3_t(1, 1, 1); |
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2 | BOOST_CHECK(constraints != constraints2); |
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2 | constraints2.end_acc = constraints.end_acc; |
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2 | constraints2.end_jerk = point3_t(1, 1, 1); |
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2 | BOOST_CHECK(constraints != constraints2); |
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2 | bezier_t::curve_constraints_t constraints3(2); |
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2 | constraints.init_vel = pointX_t(2); |
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2 | constraints.init_vel << -1, -1; |
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2 | constraints.init_acc = pointX_t(2); |
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2 | constraints.init_acc << -2, -2; |
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2 | constraints.init_jerk = pointX_t(2); |
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2 | constraints.init_jerk << 1, 2; |
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2 | constraints.end_vel = pointX_t(2); |
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2 | constraints.end_vel << -10, -10; |
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2 | constraints.end_acc = pointX_t(2); |
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2 | constraints.end_acc << -20, -20; |
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2 | constraints.end_jerk = pointX_t(2); |
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2 | constraints.end_jerk << -1, -2; |
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2 | BOOST_CHECK(constraints != constraints3); |
| 74 | 2 | } | |
| 75 | |||
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4 | BOOST_AUTO_TEST_CASE(serialization) { |
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2 | bezier_t::curve_constraints_t constraints(3); |
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2 | constraints.init_vel = point3_t(-1, -1, -1); |
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2 | constraints.init_acc = point3_t(-2, -2, -2); |
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2 | constraints.init_jerk = point3_t(1, 2, 3); |
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2 | constraints.end_vel = point3_t(-10, -10, -10); |
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2 | constraints.end_acc = point3_t(-20, -20, -20); |
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2 | constraints.end_jerk = point3_t(-1, -2, -3); |
| 84 | |||
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2 | std::string fileName("curve_constraints"); |
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2 | constraints.saveAsText<bezier_t::curve_constraints_t>(fileName + ".txt"); |
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2 | constraints.saveAsXML<bezier_t::curve_constraints_t>(fileName + ".xml", |
| 89 | "curve_constraints"); | ||
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2 | constraints.saveAsBinary<bezier_t::curve_constraints_t>(fileName); |
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2 | bezier_t::curve_constraints_t c_txt, c_xml, c_binary; |
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2 | c_txt.loadFromText<bezier_t::curve_constraints_t>(fileName + ".txt"); |
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2 | c_xml.loadFromXML<bezier_t::curve_constraints_t>(fileName + ".xml", |
| 95 | "curve_constraints"); | ||
| 96 |
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2 | c_binary.loadFromBinary<bezier_t::curve_constraints_t>(fileName); |
| 97 | |||
| 98 |
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2 | BOOST_CHECK(constraints == c_txt); |
| 99 |
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2 | BOOST_CHECK(constraints == c_xml); |
| 100 |
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2 | BOOST_CHECK(constraints == c_binary); |
| 101 | 2 | } | |
| 102 | |||
| 103 | BOOST_AUTO_TEST_SUITE_END() | ||
| 104 |