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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Willow Garage, Inc.
* 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 copyright holder(s) 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.
*
* $Id$
*/
#include <pcl/test/gtest.h>
#include <pcl/pcl_config.h>
#include <pcl/pcl_tests.h>
#include <pcl/common/eigen.h>
#include <vector>
using namespace pcl::test;
std::vector<float> v1, v2;
Eigen::Vector3f ev1, ev2;
TEST(MACROS, expect_eq_vectors_macro)
{
for (std::size_t i = 0; i < 3; i++)
{
float val = static_cast<float> (i) * 1.5f;
v1.push_back (val);
v2.push_back (val);
ev1[i] = val;
ev2[i] = val;
}
EXPECT_EQ_VECTORS (v1, v2);
EXPECT_EQ_VECTORS (ev1, ev2);
EXPECT_EQ_VECTORS (v1, ev2);
EXPECT_EQ_VECTORS (ev1, v2);
// equal_vectors<std::vector<float>, std::vector<float> >(v1, v2);
}
TEST(MACROS, expect_near_vectors_macro)
{
v1.clear ();
v2.clear ();
const static float epsilon = 1e-5f;
for (std::size_t i = 0; i < 3; i++)
{
float val = static_cast<float> (i) * 1.5f;
v1.push_back (val);
v2.push_back (val + epsilon);
ev1[i] = val;
ev2[i] = val + epsilon;
}
EXPECT_NEAR_VECTORS (v1, v2, 2*epsilon);
EXPECT_NEAR_VECTORS (ev1, ev2, 2*epsilon);
EXPECT_NEAR_VECTORS (v1, ev2, 2*epsilon);
EXPECT_NEAR_VECTORS (ev1, v2, 2*epsilon);
}
TEST(MACROS, PCL_VERSION_COMPARE)
{
// PCL_MAJOR_VERSION.PCL_MINOR_VERSION.PCL_REVISION_VERSION : latest released PCL version
// Current version should be:
// * equal (if release version is being tested)
// * greater (if development version is being tested)
#if PCL_VERSION_COMPARE(>=, PCL_MAJOR_VERSION, PCL_MINOR_VERSION, PCL_REVISION_VERSION)
SUCCEED();
#else
FAIL();
#endif
// If current version is greater, then it must be a development version
#if PCL_VERSION_COMPARE(>, PCL_MAJOR_VERSION, PCL_MINOR_VERSION, PCL_REVISION_VERSION)
EXPECT_TRUE(PCL_DEV_VERSION);
#else
EXPECT_FALSE(PCL_DEV_VERSION);
#endif
// If current version is equal, then it must be a release version (not development)
#if PCL_VERSION_COMPARE(==, PCL_MAJOR_VERSION, PCL_MINOR_VERSION, PCL_REVISION_VERSION)
EXPECT_FALSE(PCL_DEV_VERSION);
#else
EXPECT_TRUE(PCL_DEV_VERSION);
#endif
// Pretend that current version is 1.7.2-dev
#undef PCL_MAJOR_VERSION
#undef PCL_MINOR_VERSION
#undef PCL_REVISION_VERSION
#undef PCL_DEV_VERSION
#define PCL_MAJOR_VERSION 1
#define PCL_MINOR_VERSION 7
#define PCL_REVISION_VERSION 2
#define PCL_DEV_VERSION 1
// Should be greater than these:
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 1, 7, 2));
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 1, 7, 1));
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 1, 6, 3));
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 0, 8, 4));
// Should be less than these:
EXPECT_TRUE(PCL_VERSION_COMPARE(<, 1, 7, 3));
EXPECT_TRUE(PCL_VERSION_COMPARE(<, 1, 8, 0));
EXPECT_TRUE(PCL_VERSION_COMPARE(<, 2, 0, 0));
// Now pretend that current version is 1.7.2 (release)
#undef PCL_DEV_VERSION
#define PCL_DEV_VERSION 0
// Should be greater than these:
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 1, 7, 1));
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 1, 6, 3));
EXPECT_TRUE(PCL_VERSION_COMPARE(>, 0, 8, 4));
// Should be equal to itself
EXPECT_TRUE(PCL_VERSION_COMPARE(==, 1, 7, 2));
// Should be less than these:
EXPECT_TRUE(PCL_VERSION_COMPARE(<, 1, 7, 3));
EXPECT_TRUE(PCL_VERSION_COMPARE(<, 1, 8, 0));
EXPECT_TRUE(PCL_VERSION_COMPARE(<, 2, 0, 0));
}
int
main (int argc, char** argv)
{
#if ((PCL_MAJOR_VERSION == 1) && (PCL_MINOR_VERSION == 4))
std::cerr << "1.4.0 detected" << std::endl;
#elif ((PCL_MAJOR_VERSION == 1) && (PCL_MINOR_VERSION == 3))
std::cerr << "1.3.0 detected" << std::endl;
#endif
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
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