78 lines
2.7 KiB
C++
78 lines
2.7 KiB
C++
/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2022, Carlos Alvarez.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Carlos Alvarez nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*********************************************************************/
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#include <gtest/gtest.h>
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#include <geometry_msgs/msg/point.hpp>
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#include <cmath>
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#define private public
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inline static bool same_point(const geometry_msgs::msg::Point& one,
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const geometry_msgs::msg::Point& two)
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{
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double dx = one.x - two.x;
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double dy = one.y - two.y;
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double dist = sqrt(dx * dx + dy * dy);
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return dist < 0.01;
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}
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TEST(Explore, testSameGoal)
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{
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geometry_msgs::msg::Point goal1;
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geometry_msgs::msg::Point goal2;
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// Populate the goal with known values
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goal1.x = 1.0;
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goal1.y = 2.0;
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goal1.z = 3.0;
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goal2.x = 0.0;
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goal2.y = 0.0;
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goal2.z = 0.0;
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auto same_goal = same_point(goal1, goal2);
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EXPECT_FALSE(same_goal);
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goal2.x = goal1.x;
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goal2.y = goal1.y;
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goal2.z = goal1.z;
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same_goal = same_point(goal1, goal2);
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EXPECT_TRUE(same_goal);
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}
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int main(int argc, char** argv)
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{
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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