[Tests] add unit test for curve_constraints

tests/CMakeLists.txt

@@ -7,6 +7,7 @@ SET(${PROJECT_NAME}_TESTS
   test-sinusoidal
   test-sinusoidal-serialization
   test-minjerk
+  test-curve-constraints
   )
 
 FOREACH(TEST ${${PROJECT_NAME}_TESTS})

tests/test-curve-constraints.cpp

+#define BOOST_TEST_MODULE test_minjerk
+
+#include "curves/fwd.h"
+#include "curves/bezier_curve.h"
+#include <boost/test/included/unit_test.hpp>
+
+using namespace curves;
+
+BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
+
+BOOST_AUTO_TEST_CASE(copy_constructor) {
+  bezier_t::curve_constraints_t constraints(3);
+  constraints.init_vel = point3_t(-1, -1, -1);
+  constraints.init_acc = point3_t(-2, -2, -2);
+  constraints.init_jerk = point3_t(1, 2, 3);
+  constraints.end_vel = point3_t(-10, -10, -10);
+  constraints.end_acc = point3_t(-20, -20, -20);
+  constraints.end_jerk = point3_t(-1, -2, -3);
+
+  bezier_t::curve_constraints_t constraints2(constraints);
+  BOOST_CHECK_EQUAL(constraints.dim_, constraints2.dim_);
+  BOOST_CHECK_EQUAL(constraints.init_vel, constraints2.init_vel);
+  BOOST_CHECK_EQUAL(constraints.init_acc, constraints2.init_acc);
+  BOOST_CHECK_EQUAL(constraints.init_jerk, constraints2.init_jerk);
+  BOOST_CHECK_EQUAL(constraints.end_vel, constraints2.end_vel);
+  BOOST_CHECK_EQUAL(constraints.end_vel, constraints2.end_vel);
+  BOOST_CHECK_EQUAL(constraints.end_jerk, constraints2.end_jerk);
+}
+
+BOOST_AUTO_TEST_CASE(operator_equal) {
+  bezier_t::curve_constraints_t constraints(3);
+  constraints.init_vel = point3_t(-1, -1, -1);
+  constraints.init_acc = point3_t(-2, -2, -2);
+  constraints.init_jerk = point3_t(1, 2, 3);
+  constraints.end_vel = point3_t(-10, -10, -10);
+  constraints.end_acc = point3_t(-20, -20, -20);
+  constraints.end_jerk = point3_t(-1, -2, -3);
+
+  bezier_t::curve_constraints_t constraints2(constraints);
+  BOOST_CHECK(constraints == constraints2);
+  constraints2.init_vel = point3_t(1, 1, 1);
+  BOOST_CHECK(constraints != constraints2);
+  constraints2.init_vel = constraints.init_vel;
+  constraints2.init_acc = point3_t(1, 1, 1);
+  BOOST_CHECK(constraints != constraints2);
+  constraints2.init_acc = constraints.init_acc;
+  constraints2.init_jerk = point3_t(1, 1, 1);
+  BOOST_CHECK(constraints != constraints2);
+  constraints2.init_jerk = constraints.init_jerk;
+  constraints2.end_vel = point3_t(1, 1, 1);
+  BOOST_CHECK(constraints != constraints2);
+  constraints2.end_vel = constraints.end_vel;
+  constraints2.end_acc = point3_t(1, 1, 1);
+  BOOST_CHECK(constraints != constraints2);
+  constraints2.end_acc = constraints.end_acc;
+  constraints2.end_jerk = point3_t(1, 1, 1);
+  BOOST_CHECK(constraints != constraints2);
+
+  bezier_t::curve_constraints_t constraints3(2);
+  constraints.init_vel = point3_t(-1, -1);
+  constraints.init_acc = point3_t(-2, -2);
+  constraints.init_jerk = point3_t(1, 2);
+  constraints.end_vel = point3_t(-10, -10);
+  constraints.end_acc = point3_t(-20, -20);
+  constraints.end_jerk = point3_t(-1, -2);
+  BOOST_CHECK(constraints != constraints3);
+}
+
+
+
+BOOST_AUTO_TEST_CASE(serialization) {
+  bezier_t::curve_constraints_t constraints(3);
+  constraints.init_vel = point3_t(-1, -1, -1);
+  constraints.init_acc = point3_t(-2, -2, -2);
+  constraints.init_jerk = point3_t(1, 2, 3);
+  constraints.end_vel = point3_t(-10, -10, -10);
+  constraints.end_acc = point3_t(-20, -20, -20);
+  constraints.end_jerk = point3_t(-1, -2, -3);
+
+  std::string fileName("curve_constraints");
+
+  constraints.saveAsText<bezier_t::curve_constraints_t>(fileName + ".txt");
+  constraints.saveAsXML<bezier_t::curve_constraints_t>(fileName + ".xml", "curve_constraints");
+  constraints.saveAsBinary<bezier_t::curve_constraints_t>(fileName);
+
+  bezier_t::curve_constraints_t c_txt, c_xml, c_binary;
+  c_txt.loadFromText<bezier_t::curve_constraints_t>(fileName + ".txt");
+  c_xml.loadFromXML<bezier_t::curve_constraints_t>(fileName + ".xml", "curve_constraints");
+  c_binary.loadFromBinary<bezier_t::curve_constraints_t>(fileName);
+
+  BOOST_CHECK(constraints == c_txt);
+  BOOST_CHECK(constraints == c_xml);
+  BOOST_CHECK(constraints == c_binary);
+}
+
+BOOST_AUTO_TEST_SUITE_END()