From e1b048d2b67adfc63400566312659bac91d894ea Mon Sep 17 00:00:00 2001
From: Joaquim Casals <jcasals@iri.upc.edu>
Date: Thu, 23 May 2019 12:13:21 +0200
Subject: [PATCH] Moved utils_gtest.h to utils folder from test (plus minor
update update script)
---
CMakeLists.txt | 7 +-
codetemplates eclipse.xml | 2 +-
test/gtest_SE3.cpp | 2 +-
test/gtest_capture_base.cpp | 2 +-
test/gtest_ceres_manager.cpp | 2 +-
test/gtest_converter.cpp | 2 +-
test/gtest_eigen_predicates.cpp | 2 +-
test/gtest_emplace.cpp | 2 +-
test/gtest_example.cpp | 2 +-
test/gtest_factor_absolute.cpp | 2 +-
test/gtest_factor_autodiff.cpp | 2 +-
test/gtest_factor_autodiff_distance_3D.cpp | 2 +-
test/gtest_factor_odom_3D.cpp | 2 +-
test/gtest_factor_pose_2D.cpp | 2 +-
test/gtest_factor_pose_3D.cpp | 2 +-
test/gtest_factor_sparse.cpp | 2 +-
test/gtest_feature_base.cpp | 2 +-
test/gtest_frame_base.cpp | 2 +-
test/gtest_local_param.cpp | 2 +-
test/gtest_make_posdef.cpp | 2 +-
test/gtest_motion_buffer.cpp | 2 +-
test/gtest_odom_2D.cpp | 2 +-
test/gtest_odom_3D.cpp | 2 +-
test/gtest_pack_KF_buffer.cpp | 2 +-
test/gtest_param_prior.cpp | 2 +-
test/gtest_param_server.cpp | 2 +-
test/gtest_parser_yaml.cpp | 2 +-
test/gtest_problem.cpp | 2 +-
test/gtest_processor_base.cpp | 2 +-
...essor_frame_nearest_neighbor_filter_2D.cpp | 2 +-
test/gtest_processor_motion.cpp | 2 +-
test/gtest_rotation.cpp | 2 +-
test/gtest_sensor_base.cpp | 2 +-
test/gtest_shared_from_this.cpp | 2 +-
test/gtest_solver_manager.cpp | 2 +-
test/gtest_time_stamp.cpp | 2 +-
test/gtest_track_matrix.cpp | 2 +-
test/gtest_trajectory.cpp | 2 +-
test/utils_gtest.h | 146 ------------------
wolf_scripts/templates/gtest_template.cpp | 2 +-
wolf_scripts/wolf_update.sh | 2 +-
41 files changed, 43 insertions(+), 188 deletions(-)
delete mode 100644 test/utils_gtest.h
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e9e3f77c3..f62d07a3a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -233,14 +233,15 @@ SET(HDRS_MATH
include/core/math/rotations.h
)
SET(HDRS_UTILS
+ include/core/utils/converter.h
include/core/utils/eigen_assert.h
include/core/utils/eigen_predicates.h
+ include/core/utils/loader.hpp
include/core/utils/logging.h
include/core/utils/make_unique.h
- include/core/utils/singleton.h
include/core/utils/params_server.hpp
- include/core/utils/converter.h
- include/core/utils/loader.hpp
+ include/core/utils/singleton.h
+ include/core/utils/utils_gtest.h
)
SET(HDRS_PROBLEM
include/core/problem/problem.h
diff --git a/codetemplates eclipse.xml b/codetemplates eclipse.xml
index a83cc56bd..8fb5a247e 100644
--- a/codetemplates eclipse.xml
+++ b/codetemplates eclipse.xml
@@ -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}
diff --git a/test/gtest_SE3.cpp b/test/gtest_SE3.cpp
index a6146b661..c922ae4b0 100644
--- a/test/gtest_SE3.cpp
+++ b/test/gtest_SE3.cpp
@@ -7,7 +7,7 @@
#include "core/math/SE3.h"
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
diff --git a/test/gtest_capture_base.cpp b/test/gtest_capture_base.cpp
index 8bb84231d..633669c7b 100644
--- a/test/gtest_capture_base.cpp
+++ b/test/gtest_capture_base.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/capture/capture_base.h"
#include "core/state_block/state_angle.h"
diff --git a/test/gtest_ceres_manager.cpp b/test/gtest_ceres_manager.cpp
index 4ab28374d..28cd36ced 100644
--- a/test/gtest_ceres_manager.cpp
+++ b/test/gtest_ceres_manager.cpp
@@ -5,7 +5,7 @@
* Author: jvallve
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/problem/problem.h"
diff --git a/test/gtest_converter.cpp b/test/gtest_converter.cpp
index 69bb7ce35..b49f30a2d 100644
--- a/test/gtest_converter.cpp
+++ b/test/gtest_converter.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/converter.h"
using namespace std;
diff --git a/test/gtest_eigen_predicates.cpp b/test/gtest_eigen_predicates.cpp
index c7c68b4f3..0207f811e 100644
--- a/test/gtest_eigen_predicates.cpp
+++ b/test/gtest_eigen_predicates.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/eigen_predicates.h"
diff --git a/test/gtest_emplace.cpp b/test/gtest_emplace.cpp
index 92e42e440..cf6ae9004 100644
--- a/test/gtest_emplace.cpp
+++ b/test/gtest_emplace.cpp
@@ -5,7 +5,7 @@
* Author: jcasals
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/problem/problem.h"
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index 0cadea4ff..acfe5d6b7 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
TEST(TestTest, DummyTestExample)
{
diff --git a/test/gtest_factor_absolute.cpp b/test/gtest_factor_absolute.cpp
index da1cc8c05..af452608f 100644
--- a/test/gtest_factor_absolute.cpp
+++ b/test/gtest_factor_absolute.cpp
@@ -5,7 +5,7 @@
* \author: datchuth
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/factor/factor_block_absolute.h"
#include "core/factor/factor_quaternion_absolute.h"
#include "core/capture/capture_motion.h"
diff --git a/test/gtest_factor_autodiff.cpp b/test/gtest_factor_autodiff.cpp
index efa61acc9..108ae75cd 100644
--- a/test/gtest_factor_autodiff.cpp
+++ b/test/gtest_factor_autodiff.cpp
@@ -5,7 +5,7 @@
* Author: jvallve
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/sensor/sensor_odom_2D.h"
#include "core/capture/capture_void.h"
diff --git a/test/gtest_factor_autodiff_distance_3D.cpp b/test/gtest_factor_autodiff_distance_3D.cpp
index c605a558d..6fb4c644e 100644
--- a/test/gtest_factor_autodiff_distance_3D.cpp
+++ b/test/gtest_factor_autodiff_distance_3D.cpp
@@ -11,7 +11,7 @@
#include "core/ceres_wrapper/ceres_manager.h"
#include "core/math/rotations.h"
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
using namespace wolf;
using namespace Eigen;
diff --git a/test/gtest_factor_odom_3D.cpp b/test/gtest_factor_odom_3D.cpp
index 09ae42b0c..7c239323a 100644
--- a/test/gtest_factor_odom_3D.cpp
+++ b/test/gtest_factor_odom_3D.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/factor/factor_odom_3D.h"
#include "core/capture/capture_motion.h"
diff --git a/test/gtest_factor_pose_2D.cpp b/test/gtest_factor_pose_2D.cpp
index bc50e6278..c28a8946e 100644
--- a/test/gtest_factor_pose_2D.cpp
+++ b/test/gtest_factor_pose_2D.cpp
@@ -6,7 +6,7 @@
*/
#include "core/factor/factor_pose_2D.h"
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/capture/capture_motion.h"
diff --git a/test/gtest_factor_pose_3D.cpp b/test/gtest_factor_pose_3D.cpp
index 45ee64674..eda34b179 100644
--- a/test/gtest_factor_pose_3D.cpp
+++ b/test/gtest_factor_pose_3D.cpp
@@ -6,7 +6,7 @@
*/
#include "core/factor/factor_pose_3D.h"
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/capture/capture_motion.h"
diff --git a/test/gtest_factor_sparse.cpp b/test/gtest_factor_sparse.cpp
index 6c8f212be..53d8b91a1 100644
--- a/test/gtest_factor_sparse.cpp
+++ b/test/gtest_factor_sparse.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "factor_sparse.h"
diff --git a/test/gtest_feature_base.cpp b/test/gtest_feature_base.cpp
index 3a93ef2cb..713c044e2 100644
--- a/test/gtest_feature_base.cpp
+++ b/test/gtest_feature_base.cpp
@@ -7,7 +7,7 @@
#include "core/feature/feature_base.h"
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
using namespace wolf;
using namespace Eigen;
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 4cbc927bf..4f189f559 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/frame/frame_base.h"
diff --git a/test/gtest_local_param.cpp b/test/gtest_local_param.cpp
index 520a694f6..267d912b6 100644
--- a/test/gtest_local_param.cpp
+++ b/test/gtest_local_param.cpp
@@ -5,7 +5,7 @@
* author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/state_block/local_parametrization_quaternion.h"
diff --git a/test/gtest_make_posdef.cpp b/test/gtest_make_posdef.cpp
index 5a0b707a6..18222fd3b 100644
--- a/test/gtest_make_posdef.cpp
+++ b/test/gtest_make_posdef.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/common/wolf.h"
using namespace Eigen;
diff --git a/test/gtest_motion_buffer.cpp b/test/gtest_motion_buffer.cpp
index 3ef0bfaa0..8bd5f6659 100644
--- a/test/gtest_motion_buffer.cpp
+++ b/test/gtest_motion_buffer.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/processor/motion_buffer.h"
diff --git a/test/gtest_odom_2D.cpp b/test/gtest_odom_2D.cpp
index faa22aff3..a25cf1733 100644
--- a/test/gtest_odom_2D.cpp
+++ b/test/gtest_odom_2D.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
// Classes under test
#include "core/processor/processor_odom_2D.h"
diff --git a/test/gtest_odom_3D.cpp b/test/gtest_odom_3D.cpp
index ce52ec393..3c13449ce 100644
--- a/test/gtest_odom_3D.cpp
+++ b/test/gtest_odom_3D.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/common/wolf.h"
#include "core/utils/logging.h"
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index c2b8958d0..6597f0f53 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
//Wolf
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/processor/processor_odom_2D.h"
#include "core/sensor/sensor_odom_2D.h"
diff --git a/test/gtest_param_prior.cpp b/test/gtest_param_prior.cpp
index e5ddb8653..177961d92 100644
--- a/test/gtest_param_prior.cpp
+++ b/test/gtest_param_prior.cpp
@@ -5,7 +5,7 @@
* Author: jvallve
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/problem/problem.h"
diff --git a/test/gtest_param_server.cpp b/test/gtest_param_server.cpp
index a24b07a7e..3e83f8f89 100644
--- a/test/gtest_param_server.cpp
+++ b/test/gtest_param_server.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/converter.h"
#include "core/common/wolf.h"
#include "core/yaml/parser_yaml.hpp"
diff --git a/test/gtest_parser_yaml.cpp b/test/gtest_parser_yaml.cpp
index 752c06fd2..97451a606 100644
--- a/test/gtest_parser_yaml.cpp
+++ b/test/gtest_parser_yaml.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/converter.h"
#include "core/common/wolf.h"
#include "core/yaml/parser_yaml.hpp"
diff --git a/test/gtest_problem.cpp b/test/gtest_problem.cpp
index e25ba4bae..44fac86d1 100644
--- a/test/gtest_problem.cpp
+++ b/test/gtest_problem.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/problem/problem.h"
diff --git a/test/gtest_processor_base.cpp b/test/gtest_processor_base.cpp
index 9128e1ee6..cff4bc083 100644
--- a/test/gtest_processor_base.cpp
+++ b/test/gtest_processor_base.cpp
@@ -6,7 +6,7 @@
*/
//Wolf
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/processor/processor_odom_2D.h"
#include "core/sensor/sensor_odom_2D.h"
diff --git a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
index 95b164253..82b3d2ae0 100644
--- a/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
+++ b/test/gtest_processor_frame_nearest_neighbor_filter_2D.cpp
@@ -6,7 +6,7 @@
* \author: tessajohanna
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/sensor/sensor_odom_2D.h"
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index 60d175a6d..57d7a5c68 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/common/wolf.h"
#include "core/utils/logging.h"
diff --git a/test/gtest_rotation.cpp b/test/gtest_rotation.cpp
index 513cddd55..35335523c 100644
--- a/test/gtest_rotation.cpp
+++ b/test/gtest_rotation.cpp
@@ -18,7 +18,7 @@
#include <iomanip>
#include <ctime>
#include <cmath>
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
//#define write_results
diff --git a/test/gtest_sensor_base.cpp b/test/gtest_sensor_base.cpp
index d8420b2b3..499629f8f 100644
--- a/test/gtest_sensor_base.cpp
+++ b/test/gtest_sensor_base.cpp
@@ -7,7 +7,7 @@
#include "core/sensor/sensor_base.h"
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
using namespace wolf;
diff --git a/test/gtest_shared_from_this.cpp b/test/gtest_shared_from_this.cpp
index 6b14fff0c..b2d5217f4 100644
--- a/test/gtest_shared_from_this.cpp
+++ b/test/gtest_shared_from_this.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/common/node_base.h"
class CChildBase;
diff --git a/test/gtest_solver_manager.cpp b/test/gtest_solver_manager.cpp
index 92fc07b84..815817a6e 100644
--- a/test/gtest_solver_manager.cpp
+++ b/test/gtest_solver_manager.cpp
@@ -5,7 +5,7 @@
* Author: jvallve
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/problem/problem.h"
diff --git a/test/gtest_time_stamp.cpp b/test/gtest_time_stamp.cpp
index 03b1d0582..7a39a5a6d 100644
--- a/test/gtest_time_stamp.cpp
+++ b/test/gtest_time_stamp.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/common/time_stamp.h"
#include <thread>
diff --git a/test/gtest_track_matrix.cpp b/test/gtest_track_matrix.cpp
index 2f956b084..ff930b512 100644
--- a/test/gtest_track_matrix.cpp
+++ b/test/gtest_track_matrix.cpp
@@ -5,7 +5,7 @@
* \author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/processor/track_matrix.h"
diff --git a/test/gtest_trajectory.cpp b/test/gtest_trajectory.cpp
index f71bc579b..2edffe94d 100644
--- a/test/gtest_trajectory.cpp
+++ b/test/gtest_trajectory.cpp
@@ -5,7 +5,7 @@
* Author: jsola
*/
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "core/utils/logging.h"
#include "core/problem/problem.h"
diff --git a/test/utils_gtest.h b/test/utils_gtest.h
deleted file mode 100644
index 9cb2166e8..000000000
--- a/test/utils_gtest.h
+++ /dev/null
@@ -1,146 +0,0 @@
-/**
- * \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 */
diff --git a/wolf_scripts/templates/gtest_template.cpp b/wolf_scripts/templates/gtest_template.cpp
index c797c1b5a..ccfec27db 100644
--- a/wolf_scripts/templates/gtest_template.cpp
+++ b/wolf_scripts/templates/gtest_template.cpp
@@ -1,4 +1,4 @@
-#include "utils_gtest.h"
+#include "core/utils/utils_gtest.h"
#include "wolf.h"
#include "logging.h"
diff --git a/wolf_scripts/wolf_update.sh b/wolf_scripts/wolf_update.sh
index 1c7d44874..7a0ceac5b 100755
--- a/wolf_scripts/wolf_update.sh
+++ b/wolf_scripts/wolf_update.sh
@@ -29,7 +29,7 @@ for folder in wolf IMU laser gnss vision apriltag; do
if ! cmake ..; then
echo ""
echo "==========================================================================================================================="
- echo "${RED} CMake has failed, avorting process for $folder ${NC}"
+ echo "${YELLOW} CMake has failed, avorting process for $folder ${NC}"
echo "==========================================================================================================================="
echo ""
sleep 1
--
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