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Commit 04028e8b authored by Joaquim Casals Buñuel's avatar Joaquim Casals Buñuel
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utils_gtest.h refactor

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codetemplates eclipse.xml
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......@@ -23,7 +23,7 @@ ${declarations}
${namespace_end}</template><template autoinsert="false" context="org.eclipse.cdt.core.cxxSource.contenttype_context" deleted="false" description="Default template for newly created C++ test files" enabled="true" id="org.eclipse.cdt.ui.text.codetemplates.cpptestfile" name="Default C++ test template">${filecomment}
#include "utils_gtest.h"
#include <core/utils/utils_gtest.h>
${includes}
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test/gtest_example.cpp
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#include "utils_gtest.h"
#include <core/utils/utils_gtest.h>
TEST(TestTest, DummyTestExample)
{
......
test/gtest_factor_autodiff_trifocal.cpp
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#include "utils_gtest.h"
#include <core/utils/utils_gtest.h>
#include "core/utils/logging.h"
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test/gtest_pinhole.cpp
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......@@ -6,7 +6,7 @@
*/
#include "core/math/pinhole_tools.h"
#include "utils_gtest.h"
#include <core/utils/utils_gtest.h>
using namespace Eigen;
using namespace wolf;
......
test/gtest_processor_tracker_feature_trifocal.cpp
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#include "utils_gtest.h"
#include <core/utils/utils_gtest.h>
#include "core/common/wolf.h"
#include "core/utils/logging.h"
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test/gtest_sensor_camera.cpp
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......@@ -6,7 +6,7 @@
*/
#include "utils_gtest.h"
#include <core/utils/utils_gtest.h>
#include "vision/sensor/sensor_camera.h"
#include "core/sensor/sensor_factory.h"
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test/utils_gtest.h deleted 100644 → 0
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/**
* \file utils_gtest.h
* \brief Some utils for gtest
* \author Jeremie Deray
* Created on: 26/09/2016
* Eigen macros extension by: Joan Sola on 26/04/2017
*/
#ifndef WOLF_UTILS_GTEST_H
#define WOLF_UTILS_GTEST_H
#include <gtest/gtest.h>
// Macros for testing equalities and inequalities.
//
// * {ASSERT|EXPECT}_EQ(expected, actual): Tests that expected == actual
// * {ASSERT|EXPECT}_NE(v1, v2): Tests that v1 != v2
// * {ASSERT|EXPECT}_LT(v1, v2): Tests that v1 < v2
// * {ASSERT|EXPECT}_LE(v1, v2): Tests that v1 <= v2
// * {ASSERT|EXPECT}_GT(v1, v2): Tests that v1 > v2
// * {ASSERT|EXPECT}_GE(v1, v2): Tests that v1 >= v2
//
// C String Comparisons. All tests treat NULL and any non-NULL string
// as different. Two NULLs are equal.
//
// * {ASSERT|EXPECT}_STREQ(s1, s2): Tests that s1 == s2
// * {ASSERT|EXPECT}_STRNE(s1, s2): Tests that s1 != s2
// * {ASSERT|EXPECT}_STRCASEEQ(s1, s2): Tests that s1 == s2, ignoring case
// * {ASSERT|EXPECT}_STRCASENE(s1, s2): Tests that s1 != s2, ignoring case
//
// Macros for comparing floating-point numbers.
//
// * {ASSERT|EXPECT}_FLOAT_EQ(expected, actual):
// Tests that two float values are almost equal.
// * {ASSERT|EXPECT}_DOUBLE_EQ(expected, actual):
// Tests that two double values are almost equal.
// * {ASSERT|EXPECT}_NEAR(v1, v2, abs_error):
// Tests that v1 and v2 are within the given distance to each other.
//
// These predicate format functions work on floating-point values, and
// can be used in {ASSERT|EXPECT}_PRED_FORMAT2*(), e.g.
//
// EXPECT_PRED_FORMAT2(testing::DoubleLE, Foo(), 5.0);
//
// Macros that execute statement and check that it doesn't generate new fatal
// failures in the current thread.
//
// * {ASSERT|EXPECT}_NO_FATAL_FAILURE(statement);
// http://stackoverflow.com/a/29155677
namespace testing
{
namespace internal
{
enum GTestColor
{
COLOR_DEFAULT,
COLOR_RED,
COLOR_GREEN,
COLOR_YELLOW
};
extern void ColoredPrintf(GTestColor color, const char* fmt, ...);
#define PRINTF(...) \
do { testing::internal::ColoredPrintf(testing::internal::COLOR_GREEN,\
"[ ] "); \
testing::internal::ColoredPrintf(testing::internal::COLOR_YELLOW, __VA_ARGS__); } \
while(0)
#define PRINT_TEST_FINISHED \
{ \
const ::testing::TestInfo* const test_info = \
::testing::UnitTest::GetInstance()->current_test_info(); \
PRINTF(std::string("Finished test case ").append(test_info->test_case_name()).\
append(" of test ").append(test_info->name()).append(".\n").c_str()); \
}
// C++ stream interface
class TestCout : public std::stringstream
{
public:
~TestCout()
{
PRINTF("%s\n", str().c_str());
}
};
/* Usage :
TEST(Test, Foo)
{
// the following works but prints default stream
EXPECT_TRUE(false) << "Testing Stream.";
// or you can play with AINSI color code
EXPECT_TRUE(false) << "\033[1;31m" << "Testing Stream.";
// or use the above defined macros
PRINTF("Hello world");
// or
TEST_COUT << "Hello world";
}
*/
#define TEST_COUT testing::internal::TestCout()
} // namespace internal
/* Macros related to testing Eigen classes:
*/
#define EXPECT_MATRIX_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
return (lhs - rhs).isMuchSmallerThan(1, precision); \
}, \
C_expect, C_actual);
#define ASSERT_MATRIX_APPROX(C_expect, C_actual, precision) ASSERT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
return (lhs - rhs).isMuchSmallerThan(1, precision); \
}, \
C_expect, C_actual);
#define EXPECT_QUATERNION_APPROX(C_expect, C_actual, precision) EXPECT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
#define ASSERT_QUATERNION_APPROX(C_expect, C_actual, precision) ASSERT_MATRIX_APPROX((C_expect).coeffs(), (C_actual).coeffs(), precision)
#define EXPECT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
MatrixXs er = lhs - rhs; \
er(2) = pi2pi((Scalar)er(2)); \
return er.isMuchSmallerThan(1, precision); \
}, \
C_expect, C_actual);
#define ASSERT_POSE2D_APPROX(C_expect, C_actual, precision) EXPECT_PRED2([](const Eigen::MatrixXs lhs, const Eigen::MatrixXs rhs) { \
MatrixXs er = lhs - rhs; \
er(2) = pi2pi((Scalar)er(2)); \
return er.isMuchSmallerThan(1, precision); \
}, \
C_expect, C_actual);
} // namespace testing
#endif /* WOLF_UTILS_GTEST_H */
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