agv_ros_ws/costmap_2d/test/array_parser_test.cpp

/*
 * Copyright (c) 2012, Willow Garage, Inc.
 * All rights reserved.
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 * Redistribution and use in source and binary forms, with or without
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <gtest/gtest.h>

#include "costmap_2d/array_parser.h"

using namespace costmap_2d;

TEST(array_parser, basic_operation)
{
  std::string error;
  std::vector<std::vector<float> > vvf;
  vvf = parseVVF( "[[1, 2.2], [.3, -4e4]]", error );
  EXPECT_EQ( 2, vvf.size() );
  EXPECT_EQ( 2, vvf[0].size() );
  EXPECT_EQ( 2, vvf[1].size() );
  EXPECT_EQ( 1.0f, vvf[0][0] );
  EXPECT_EQ( 2.2f, vvf[0][1] );
  EXPECT_EQ( 0.3f, vvf[1][0] );
  EXPECT_EQ( -40000.0f, vvf[1][1] );
  EXPECT_EQ( "", error );
}

TEST(array_parser, missing_open)
{
  std::string error;
  std::vector<std::vector<float> > vvf;
  vvf = parseVVF( "[1, 2.2], [.3, -4e4]]", error );
  EXPECT_FALSE( error == "" );
}

TEST(array_parser, missing_close)
{
  std::string error;
  std::vector<std::vector<float> > vvf;
  vvf = parseVVF( "[[1, 2.2], [.3, -4e4]", error );
  EXPECT_FALSE( error == "" );
}

TEST(array_parser, wrong_depth)
{
  std::string error;
  std::vector<std::vector<float> > vvf;
  vvf = parseVVF( "[1, 2.2], [.3, -4e4]", error );
  EXPECT_FALSE( error == "" );
}

int main(int argc, char** argv)
{
  testing::InitGoogleTest( &argc, argv );
  return RUN_ALL_TESTS();
}