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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2019-, Open Perception, 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.
*
*/
#include <pcl/memory.h> // for pcl::has_custom_allocator, PCL_MAKE_ALIGNED_OPERATOR_NEW
#include <pcl/type_traits.h>
#include <pcl/point_types.h>
#include <pcl/common/point_tests.h> // for pcl::isXYFinite, pcl::isXYZFinite, pcl::isNormalFinite
#include <pcl/test/gtest.h>
TEST (TypeTraits, HasCustomAllocatorTrait)
{
struct Foo
{
public:
// Manually ignore warnings here because of an issue in Eigen which
// results in a local typedef being unused inside the new and delete
// operators added by Eigen for C++14 or lower standards
/** \todo Remove for C++17 (or future standards)
*/
#ifdef __clang__
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wunused-local-typedef"
#endif
PCL_MAKE_ALIGNED_OPERATOR_NEW
#ifdef __clang__
#pragma clang diagnostic pop
#endif
};
struct Bar
{
};
EXPECT_TRUE(pcl::has_custom_allocator<Foo>::value);
EXPECT_FALSE(pcl::has_custom_allocator<Bar>::value);
}
TEST (TypeTraits, HasXY)
{
static_assert(!pcl::traits::has_xy_v<pcl::Normal>,
"has_xy<> should detect lack of x and y fields");
static_assert(pcl::traits::has_xy_v<pcl::PointXYZ>,
"has_xy<> should detect x and y fields");
}
TEST (TypeTraits, HasXYZ)
{
static_assert(!pcl::traits::has_xyz_v<pcl::Normal>,
"has_xyz<> should detect lack of x or y or z fields");
static_assert(pcl::traits::has_xyz_v<pcl::PointXYZ>,
"has_xyz<> should detect x, y and z fields");
}
TEST (TypeTraits, HasNormal)
{
static_assert(!pcl::traits::has_normal_v<pcl::PointXYZ>,
"has_normal<> should detect lack of normal_{x or y or z} fields");
static_assert(pcl::traits::has_normal_v<pcl::Axis>,
"has_normal<> should detect normal_{x, y and z} fields");
}
TEST (TypeTraits, HasCurvature)
{
static_assert(!pcl::traits::has_curvature_v<pcl::PointXYZ>,
"has_curvature<> should detect lack of curvature field");
static_assert(pcl::traits::has_curvature_v<pcl::Normal>,
"has_curvature<> should detect curvature field");
}
TEST (TypeTraits, HasIntensity)
{
static_assert(!pcl::traits::has_intensity_v<pcl::InterestPoint>,
"has_intensity<> should detect lack of intensity field");
static_assert(pcl::traits::has_intensity_v<pcl::PointXYZI>,
"has_intensity<> should detect intensity field");
}
TEST (TypeTraits, HasColor)
{
static_assert(!pcl::traits::has_color_v<pcl::PointXYZ>,
"has_color<> should detect lack of rgb field");
static_assert(pcl::traits::has_color_v<pcl::PointXYZRGB>,
"has_color<> should detect rgb field");
static_assert(pcl::traits::has_color_v<pcl::PointXYZRGBA>,
"has_color<> should detect rgb field");
}
TEST (TypeTraits, HasLabel)
{
static_assert(!pcl::traits::has_label_v<pcl::PointXYZRGB>,
"has_label<> should detect lack of label field");
static_assert(pcl::traits::has_label_v<pcl::PointXYZRGBL>,
"has_label<> should detect label field");
}
TEST (TypeTests, IsXYFinite)
{
EXPECT_TRUE(pcl::isXYFinite(pcl::RGB {}));
EXPECT_TRUE(pcl::isXYFinite(pcl::PointXYZ {2,3,4}));
EXPECT_TRUE(pcl::isXYFinite(pcl::PointXYZ {std::numeric_limits<float>::max(), 3, 4}));
EXPECT_TRUE(pcl::isXYFinite(pcl::PointXYZ {std::numeric_limits<float>::min(), 3, 4}));
EXPECT_FALSE(pcl::isXYFinite(pcl::PointXYZ {std::numeric_limits<float>::infinity(), 3, 4}));
EXPECT_FALSE(pcl::isXYFinite(pcl::PointXYZ {-std::numeric_limits<float>::infinity(), 3, 4}));
EXPECT_FALSE(pcl::isXYFinite(pcl::PointXYZ {std::numeric_limits<float>::quiet_NaN(), 3, 4}));
EXPECT_FALSE(pcl::isXYFinite(pcl::PointXYZ {-std::numeric_limits<float>::signaling_NaN(), 3, 4}));
}
TEST (TypeTests, IsXYZFinite)
{
EXPECT_TRUE(pcl::isXYZFinite(pcl::RGB {}));
EXPECT_TRUE(pcl::isXYZFinite(pcl::PointXYZ {2,3,4}));
EXPECT_TRUE(pcl::isXYZFinite(pcl::PointXYZ {std::numeric_limits<float>::max(), 3, 4}));
EXPECT_TRUE(pcl::isXYZFinite(pcl::PointXYZ {std::numeric_limits<float>::min(), 3, 4}));
EXPECT_FALSE(pcl::isXYZFinite(pcl::PointXYZ {std::numeric_limits<float>::infinity(), 3, 4}));
EXPECT_FALSE(pcl::isXYZFinite(pcl::PointXYZ {-std::numeric_limits<float>::infinity(), 3, 4}));
EXPECT_FALSE(pcl::isXYZFinite(pcl::PointXYZ {std::numeric_limits<float>::quiet_NaN(), 3, 4}));
EXPECT_FALSE(pcl::isXYZFinite(pcl::PointXYZ {-std::numeric_limits<float>::signaling_NaN(), 3, 4}));
}
TEST (TypeTests, IsNormalFinite)
{
EXPECT_TRUE(pcl::isNormalFinite(pcl::RGB {}));
EXPECT_TRUE(pcl::isNormalFinite(pcl::Normal {2,3,4}));
EXPECT_TRUE(pcl::isNormalFinite(pcl::Normal {std::numeric_limits<float>::max(), 3, 4}));
EXPECT_TRUE(pcl::isNormalFinite(pcl::Normal {std::numeric_limits<float>::min(), 3, 4}));
EXPECT_FALSE(pcl::isNormalFinite(pcl::Normal {std::numeric_limits<float>::infinity(), 3, 4}));
EXPECT_FALSE(pcl::isNormalFinite(pcl::Normal {-std::numeric_limits<float>::infinity(), 3, 4}));
EXPECT_FALSE(pcl::isNormalFinite(pcl::Normal {std::numeric_limits<float>::quiet_NaN(), 3, 4}));
EXPECT_FALSE(pcl::isNormalFinite(pcl::Normal {-std::numeric_limits<float>::signaling_NaN(), 3, 4}));
}
int
main (int argc, char** argv)
{
testing::InitGoogleTest (&argc, argv);
return (RUN_ALL_TESTS ());
}
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