Commit aa7b386c authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Tests] update to removal of operator == between different class of curves

parent 52823f75
......@@ -2415,9 +2415,9 @@ void testOperatorEqual(bool& error){
// test bezier / polynomial
polynomial_t pol_0 = polynomial_from_curve<polynomial_t>(bc_0);
CompareCurves<polynomial_t,bezier_t>(pol_0,bc_0,"compare pol_0 and bc_0",error);
//std::cout<<"Should call curve_abc method : "<<std::endl;
if(bc_0 != pol_0){
std::cout<<"bc_0 and pol_0 should be equals"<<std::endl;
std::cout<<"Should call curve_abc method : "<<std::endl;
if(!bc_0.isApprox(pol_0)){
std::cout<<"bc_0 and pol_0 should be approx"<<std::endl;
error = true;
}
......@@ -2460,15 +2460,15 @@ void testOperatorEqual(bool& error){
// // test bezier / hermite
bezier_t bc_ch = bezier_from_curve<bezier_t>(chs0);
//std::cout<<"Should call curve_abc method : "<<std::endl;
if(chs0 != bc_ch){
std::cout<<"chs0 and bc_ch should be equals"<<std::endl;
std::cout<<"Should call curve_abc method : "<<std::endl;
if(!chs0.isApprox(bc_ch)){
std::cout<<"chs0 and bc_ch should be approx"<<std::endl;
error = true;
}
// test polynomial / hermite
polynomial_t pol_ch = polynomial_from_curve<polynomial_t>(chs0);
if(chs0 != pol_ch){
std::cout<<"chs0 and pol_ch should be equals"<<std::endl;
if(!chs0.isApprox(pol_ch)){
std::cout<<"chs0 and pol_ch should be approx"<<std::endl;
error = true;
}
......@@ -2504,10 +2504,28 @@ void testOperatorEqual(bool& error){
error = true;
}
// test from pointer :
curve_ptr_t c_ptr1(new bezier_t(bc_0));
curve_ptr_t c_ptr2(new bezier_t(bc_0));
curve_ptr_t c_ptr3(new polynomial_t(pol_0));
std::cout<<"Should call bezier method : "<<std::endl;
if(!c_ptr1->isApprox(*c_ptr2)){
std::cout<<"c_ptr1 and c_ptr2 should be approx"<<std::endl;
error = true;
}
std::cout<<"Should call curve_abc method : "<<std::endl;
if(!c_ptr2->isApprox(*c_ptr3)){
std::cout<<"c_ptr2 and c_ptr3 should be approx"<<std::endl;
error = true;
}
// SE3
boost::shared_ptr<bezier_t> translation_bezier(new bezier_t(bc_0));
boost::shared_ptr<bezier_t> translation_bezier(new bezier_t(bc_0));
boost::shared_ptr<bezier_t> translation_bezier2(new bezier_t(bc_0));
boost::shared_ptr<polynomial_t> translation_polynomial(new polynomial_t(pol_0));
SE3Curve_t se3_bezier1 = SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q1.toRotationMatrix());
SE3Curve_t se3_bezier12 = SE3Curve_t(translation_bezier2, q0.toRotationMatrix(), q1.toRotationMatrix());
SE3Curve_t se3_pol1 = SE3Curve_t(translation_polynomial, q0.toRotationMatrix(), q1.toRotationMatrix());
SE3Curve_t se3_bezier2(se3_bezier1);
SE3Curve_t se3_bezier3 = SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q2.toRotationMatrix());
......@@ -2523,7 +2541,12 @@ void testOperatorEqual(bool& error){
std::cout<<"se3_bezier1 and se3_bezier2 should be equals"<<std::endl;
error = true;
}
//std::cout<<"Should call se3 -> curve_abc / so3 method : "<<std::endl;
std::cout<<"Should call se3 -> bezier / SO3 method : "<<std::endl;
if(se3_bezier1 != se3_bezier12){
std::cout<<"se3_bezier1 and se3_bezier12 should be equals"<<std::endl;
error = true;
}
std::cout<<"Should call se3 -> curve_abc : "<<std::endl;
if(se3_bezier1 == se3_pol2){
std::cout<<"se3_bezier1 and se3_pol2 should not be equals"<<std::endl;
error = true;
......
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