ros_side.test.cpp File Reference

#include <ros/ros.h>
#include <ros/console.h>
#include <gtest/gtest.h>
#include <gazebo_msgs/ModelState.h>
#include <geometry_msgs/Vector3.h>
#include <iostream>
#include "travesim_adapters/data/converter/ros_side.hpp"
#include "travesim_adapters/data/robot_state.hpp"
#include "travesim_adapters/ros/vision_receiver.hpp"

Include dependency graph for ros_side.test.cpp:

Go to the source code of this file.

Functions
	TEST (vector2d_to_vector3, convert_from_vector2d)
	TEST (vector2d_to_vector3, convert_from_vector3)
	TEST (robot_state_to_model_state, model_name)
	TEST (robot_state_to_model_state, angle_conversion)
int	main (int argc, char **argv)

Function Documentation

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 79 of file ros_side.test.cpp.

                                {
    testing::InitGoogleTest(&argc, argv);

    // ros::init(argc, argv, "tester");
    // ros::NodeHandle nh;
    return RUN_ALL_TESTS();
}

TEST() [1/4]

TEST	(	vector2d_to_vector3	,
		convert_from_vector2d
	)

Definition at line 22 of file ros_side.test.cpp.

{
    travesim::Vector2D vector2d(2, 4);

    geometry_msgs::Vector3 vector3 = travesim::converter::Vector2D_to_Vector3(&vector2d);

    EXPECT_DOUBLE_EQ(vector3.x, 2);
    EXPECT_DOUBLE_EQ(vector3.y, 4);
}

References travesim::converter::Vector2D_to_Vector3().

Here is the call graph for this function:

TEST() [2/4]

TEST	(	vector2d_to_vector3	,
		convert_from_vector3
	)

Definition at line 32 of file ros_side.test.cpp.

{
    geometry_msgs::Vector3 vector3;

    vector3.x = 3;
    vector3.y = -7;

    travesim::Vector2D vector2d = travesim::converter::Vector3_to_Vector2D(&vector3);

    EXPECT_DOUBLE_EQ(vector2d.x, 3);
    EXPECT_DOUBLE_EQ(vector2d.y, -7);
}

References travesim::converter::Vector3_to_Vector2D(), travesim::Vector2D::x, and travesim::Vector2D::y.

Here is the call graph for this function:

TEST() [3/4]

TEST	(	robot_state_to_model_state	,
		model_name
	)

Definition at line 45 of file ros_side.test.cpp.

{
    travesim::RobotState robot_state;

    EXPECT_EQ(travesim::converter::RobotState_to_ModelState(&robot_state).model_name, "yellow_team/robot_0");

    robot_state.id = 2;

    EXPECT_EQ(travesim::converter::RobotState_to_ModelState(&robot_state).model_name, "yellow_team/robot_2");

    robot_state.is_yellow = false;
    robot_state.id = 0;

    EXPECT_EQ(travesim::converter::RobotState_to_ModelState(&robot_state).model_name,
              "blue_team/robot_0");

    robot_state.id = 1;

    EXPECT_EQ(travesim::converter::RobotState_to_ModelState(&robot_state).model_name,
              "blue_team/robot_1");
}

References travesim::RobotState::id, travesim::RobotState::is_yellow, and travesim::converter::RobotState_to_ModelState().

Here is the call graph for this function:

TEST() [4/4]

TEST	(	robot_state_to_model_state	,
		angle_conversion
	)

Definition at line 67 of file ros_side.test.cpp.

{
    travesim::RobotState robot_state;
    robot_state.angular_position = -M_PI/3;

    gazebo_msgs::ModelState model_state = travesim::converter::RobotState_to_ModelState(&robot_state);

    EXPECT_DOUBLE_EQ(travesim::converter::ModelState_to_RobotState(&model_state).angular_position,
                     robot_state.angular_position);
}

References travesim::EntityState::angular_position, travesim::converter::ModelState_to_RobotState(), and travesim::converter::RobotState_to_ModelState().

Here is the call graph for this function: