gucoordinates_tests.hpp

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/*
 * gucoordinates_tests.hpp 
 * ctests 
 *
 * Created by Callum McColl on 23/06/2020.
 * Copyright © 2020 Callum McColl. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above
 *    copyright notice, this list of conditions and the following
 *    disclaimer in the documentation and/or other materials
 *    provided with the distribution.
 *
 * 3. All advertising materials mentioning features or use of this
 *    software must display the following acknowledgement:
 *
 *        This product includes software developed by Callum McColl.
 *
 * 4. Neither the name of the author nor the names of contributors
 *    may be used to endorse or promote products derived from this
 *    software without specific prior written permission.
 *
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 * This program is free software; you can redistribute it and/or
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#ifndef GUCOORDINATES_TESTS_HPP
#define GUCOORDINATES_TESTS_HPP
 
#pragma clang diagnostic push
#pragma clang diagnostic ignored "-Wzero-as-null-pointer-constant"
#pragma clang diagnostic ignored "-Wfloat-equal"
#pragma clang diagnostic ignored "-Wsign-compare"
#pragma clang diagnostic ignored "-Wmissing-noreturn"
#pragma clang diagnostic ignored "-Wshift-sign-overflow"
#pragma clang diagnostic ignored "-Wused-but-marked-unused"
#pragma clang diagnostic ignored "-Wundef"
#pragma clang diagnostic ignored "-Wc++98-compat"
#pragma clang diagnostic ignored "-Wc++98-compat-pedantic"
#pragma clang diagnostic ignored "-Wc++11-long-long"
#pragma clang diagnostic ignored "-Wc++11-extensions"
#pragma clang diagnostic ignored "-Wdeprecated"
#include <gtest/gtest.h>
#pragma clang diagnostic pop
 
#include "../gucoordinates.h"
 
#define GU_NAO_V5_TOP_CAMERA gu_camera_make(6.364f, 5.871f, 1.2f, 47.64f, 60.97f) 
#define GU_NAO_V5_BOTTOM_CAMERA gu_camera_make(1.774f, 5.071f, 39.7f, 47.64f, 60.97f)
 
#define GU_PEPPER_TOP_CAMERA gu_camera_make(115.3f, 8.68f, 0.0f, 44.3f, 55.2f)
#define GU_PEPPER_BOTTOM_CAMERA gu_camera_make(105.15f, 9.36f, 40.0f, 44.3f, 55.2f)
 
#define GU_NAO_V5_HEAD(p, y) (gu_camera_pivot) {.pitch = p, .yaw = y, .height = 41.7f, .cameras = {GU_NAO_V5_TOP_CAMERA, GU_NAO_V5_BOTTOM_CAMERA}, .numCameras = 2}
#define GU_NAO_V5_TOP_CAMERA_INDEX 0
#define GU_NAO_V5_BOTTOM_CAMERA_INDEX 1 
 
#define GU_PEPPER_HEAD(p, y) {p, y, 0.0f, {GU_PEPPER_TOP_CAMERA, GU_PEPPER_BOTTOM_CAMERA}, 2}
 
#define GU_NAO_V5_ROBOT(hp, hy, x, y, t) (gu_robot) { .head = { hp, hy, 41.7f, {GU_NAO_V5_TOP_CAMERA, GU_NAO_V5_BOTTOM_CAMERA}, 2 }, .position = { { x, y }, t } }
 
#define GU_PEPPER_ROBOT(hp, hy, x, y, t) (gu_robot) { .head = { hp, hy, 0.0f, {GU_PEPPER_TOP_CAMERA, GU_PEPPER_BOTTOM_CAMERA}, 2 }, .position = { { x, y }, t } }
 
#include <math.h>
 
namespace CGTEST {
 
    class GUCoordinatesTests: public ::testing::Test {
        protected:
 
        virtual void SetUp() {}
 
        virtual void TearDown() {}
 
        void camera_equal(const gu_camera_coordinate lhs, const gu_camera_coordinate rhs)
        {
            ASSERT_EQ(lhs.x, rhs.x);
            ASSERT_EQ(lhs.y, rhs.y);
            ASSERT_EQ(lhs.res_width, rhs.res_width);
            ASSERT_EQ(lhs.res_height, rhs.res_height);
        }
 
        void pixel_equal(const gu_pixel_coordinate lhs, const gu_pixel_coordinate rhs)
        {
            ASSERT_EQ(lhs.x, rhs.x);
            ASSERT_EQ(lhs.y, rhs.y);
            ASSERT_EQ(lhs.res_width, rhs.res_width);
            ASSERT_EQ(lhs.res_height, rhs.res_height);
        }
 
        void percent_equal(const gu_percent_coordinate lhs, const gu_percent_coordinate rhs)
        {
            ASSERT_EQ(lhs.x, rhs.x);
            ASSERT_EQ(lhs.y, rhs.y);
        }
 
        void percent_near(const gu_percent_coordinate lhs, const gu_percent_coordinate rhs)
        {
            ASSERT_LT(fabs(lhs.x - rhs.x), 0.001);
            ASSERT_LT(fabs(lhs.y - rhs.y), 0.001);
        }
 
    };
 
}
 
#endif  /* GUCOORDINATES_TESTS_HPP */