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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#define BOOST_TEST_MODULE "StateStorage"
#include <boost/test/unit_test.hpp>
#include "ompl/base/StateStorage.h"
#include "ompl/base/ScopedState.h"
#include "ompl/base/spaces/SE3StateSpace.h"
#include "ompl/base/spaces/SE2StateSpace.h"
#include "../BoostTestTeamCityReporter.h"
using namespace ompl;
// define a convenience macro
#define BOOST_OMPL_EXPECT_NEAR(a, b, diff) BOOST_CHECK_SMALL((a) - (b), diff)
struct Metadata
{
Metadata(void) : tag1(0), tag2(0.5f)
{
}
int tag1;
float tag2;
template<typename Archive>
void serialize(Archive & ar, const unsigned int /*version*/)
{
ar & tag1;
ar & tag2;
}
};
BOOST_AUTO_TEST_CASE(Store)
{
base::StateSpacePtr space(new base::SE3StateSpace());
base::RealVectorBounds bounds(3);
bounds.setLow(-1);
bounds.setHigh(1);
space->as<base::SE3StateSpace>()->setBounds(bounds);
space->setup();
base::StateStorage ss(space);
base::ScopedState<> s(space);
base::State *x = space->allocState();
for (int i = 0 ; i < 1000 ; ++i)
{
s.random();
space->copyState(x, s.get());
ss.addState(x);
}
space->freeState(x);
ss.store("tmp_states");
base::StateStorageWithMetadata<Metadata> ssm(space);
ssm.generateSamples(3);
ssm.getMetadata(0).tag1 = 2;
ssm.getMetadata(1).tag2 = 1.0f;
ssm.store("tmp_states_wm");
}
BOOST_AUTO_TEST_CASE(Load)
{
base::StateSpacePtr space(new base::SE3StateSpace());
base::RealVectorBounds bounds(3);
bounds.setLow(-1);
bounds.setHigh(1);
space->as<base::SE3StateSpace>()->setBounds(bounds);
space->setup();
base::StateStorage ss(space);
ss.load("tmp_states");
base::StateStorageWithMetadata<Metadata> ssm(space);
ssm.load("tmp_states_wm");
BOOST_CHECK_EQUAL(ssm.getMetadata(0).tag1, 2);
BOOST_OMPL_EXPECT_NEAR(ssm.getMetadata(1).tag2, 1.0, 1e-5);
}
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