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/*
* Copyright (C) 2019 Open Source Robotics Foundation
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#include <gtest/gtest.h>
#include <ignition/math/Angle.hh>
#include "sdf/Lidar.hh"
/////////////////////////////////////////////////
TEST(DOMLidar, Construction)
{
sdf::Lidar lidar;
sdf::Noise defaultNoise;
EXPECT_EQ(defaultNoise, lidar.LidarNoise());
}
/////////////////////////////////////////////////
TEST(DOMLidar, Set)
{
sdf::Lidar lidar;
lidar.SetHorizontalScanSamples(123);
EXPECT_EQ(lidar.HorizontalScanSamples(), 123u);
lidar.SetHorizontalScanResolution(0.45);
EXPECT_DOUBLE_EQ(lidar.HorizontalScanResolution(), 0.45);
lidar.SetHorizontalScanMinAngle(ignition::math::Angle(0.67));
EXPECT_DOUBLE_EQ(*(lidar.HorizontalScanMinAngle()), 0.67);
lidar.SetHorizontalScanMaxAngle(ignition::math::Angle(0.89));
EXPECT_DOUBLE_EQ(*(lidar.HorizontalScanMaxAngle()), 0.89);
lidar.SetVerticalScanSamples(98);
EXPECT_EQ(lidar.VerticalScanSamples(), 98u);
lidar.SetVerticalScanResolution(0.76);
EXPECT_DOUBLE_EQ(lidar.VerticalScanResolution(), 0.76);
lidar.SetVerticalScanMinAngle(ignition::math::Angle(0.54));
EXPECT_DOUBLE_EQ(*(lidar.VerticalScanMinAngle()), 0.54);
lidar.SetVerticalScanMaxAngle(ignition::math::Angle(0.321));
EXPECT_DOUBLE_EQ(*(lidar.VerticalScanMaxAngle()), 0.321);
lidar.SetRangeMin(1.2);
EXPECT_DOUBLE_EQ(lidar.RangeMin(), 1.2);
lidar.SetRangeMax(3.4);
EXPECT_DOUBLE_EQ(lidar.RangeMax(), 3.4);
lidar.SetRangeResolution(5.6);
EXPECT_DOUBLE_EQ(lidar.RangeResolution(), 5.6);
sdf::Noise noise;
noise.SetMean(6.5);
noise.SetStdDev(3.79);
lidar.SetLidarNoise(noise);
EXPECT_EQ(noise, lidar.LidarNoise());
lidar.SetHorizontalScanSamples(111);
lidar.SetHorizontalScanResolution(2.2);
// Inequality operator
sdf::Lidar lidar2;
EXPECT_NE(lidar2, lidar);
// Copy constructor
sdf::Lidar lidarCopied(lidar);
EXPECT_EQ(lidarCopied, lidar);
// Assignment operator
sdf::Lidar lidarAssigned;
lidarAssigned = lidar;
EXPECT_EQ(lidarAssigned, lidar);
// Move constructor
sdf::Lidar lidarMoved = std::move(lidar);
EXPECT_EQ(lidarCopied, lidarMoved);
// Test nullptr private class
lidar = lidarMoved;
EXPECT_EQ(lidarCopied, lidar);
// Move assignment operator
sdf::Lidar lidarMoveAssigned;
lidarMoveAssigned = std::move(lidarCopied);
EXPECT_EQ(lidarAssigned, lidarMoveAssigned);
// Test nullptr private class
lidarCopied = lidarMoveAssigned;
EXPECT_EQ(lidarAssigned, lidarCopied);
}
/////////////////////////////////////////////////
TEST(DOMLidar, Load)
{
sdf::Lidar lidar;
sdf::Errors errors;
// Null element
errors = lidar.Load(nullptr);
ASSERT_EQ(1u, errors.size());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_MISSING, errors[0].Code());
EXPECT_EQ(nullptr, lidar.Element());
// Bad element name
sdf::ElementPtr sdf(new sdf::Element());
sdf->SetName("bad");
errors = lidar.Load(sdf);
ASSERT_EQ(1u, errors.size());
EXPECT_EQ(sdf::ErrorCode::ELEMENT_INCORRECT_TYPE, errors[0].Code());
EXPECT_NE(nullptr, lidar.Element());
// The Lidar::Load function is tested more thouroughly in the
// link_dom.cc integration test.
}
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