From d92d8e846401815dba983de53435ae45f8724a5c Mon Sep 17 00:00:00 2001
From: Pierre Fernbach <pierre.fernbach@laas.fr>
Date: Fri, 20 Dec 2019 11:16:10 +0100
Subject: [PATCH] [Tests] update to changes in operator == and isApprox
---
tests/Main.cpp | 71 ++++++++++++++++++++++++++++++++------------------
1 file changed, 46 insertions(+), 25 deletions(-)
diff --git a/tests/Main.cpp b/tests/Main.cpp
index 92a6c9b..381b840 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -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.isApprox(pol_0)){
- std::cout<<"bc_0 and pol_0 should be approx"<<std::endl;
+ //std::cout<<"Should call curve_abc method : "<<std::endl;
+ if(!bc_0.isEquivalent(&pol_0)){
+ std::cout<<"bc_0 and pol_0 should be equivalent"<<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.isApprox(bc_ch)){
- std::cout<<"chs0 and bc_ch should be approx"<<std::endl;
+ //std::cout<<"Should call curve_abc method : "<<std::endl;
+ if(!chs0.isEquivalent(&bc_ch)){
+ std::cout<<"chs0 and bc_ch should be equivalent"<<std::endl;
error = true;
}
// test polynomial / hermite
polynomial_t pol_ch = polynomial_from_curve<polynomial_t>(chs0);
- if(!chs0.isApprox(pol_ch)){
- std::cout<<"chs0 and pol_ch should be approx"<<std::endl;
+ if(!chs0.isEquivalent(&pol_ch)){
+ std::cout<<"chs0 and pol_ch should be equivalent"<<std::endl;
error = true;
}
@@ -2506,16 +2506,16 @@ void testOperatorEqual(bool& error){
// test from pointer :
curve_ptr_t c_ptr1(new bezier_t(bc_0));
- curve_ptr_t c_ptr2(new bezier_t(bc_0));
+ curve_abc_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<<"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;
+ //std::cout<<"Should call curve_abc method : "<<std::endl;
+ if(!c_ptr2->isEquivalent(c_ptr3.get())){
+ std::cout<<"c_ptr2 and c_ptr3 should be equivalent"<<std::endl;
error = true;
}
@@ -2531,27 +2531,36 @@ void testOperatorEqual(bool& error){
SE3Curve_t se3_bezier3 = SE3Curve_t(translation_bezier, q0.toRotationMatrix(), q2.toRotationMatrix());
boost::shared_ptr<polynomial_t> translation_polynomial2(new polynomial_t(pol_2));
SE3Curve_t se3_pol2 = SE3Curve_t(translation_polynomial2, q0.toRotationMatrix(), q1.toRotationMatrix());
- //std::cout<<"Should call se3 -> curve_abc / so3 method : "<<std::endl;
- if(se3_bezier1 != se3_pol1){
- std::cout<<"se3_bezier1 and se3_pol1 should be equals"<<std::endl;
+ //std::cout<<"Should call se3 method : "<<std::endl;
+ if(se3_bezier1 == se3_pol1){
+ std::cout<<"se3_bezier1 and se3_pol1 should not be equals"<<std::endl;
+ error = true;
+ }
+ if(se3_bezier1.isApprox(se3_pol1)){
+ std::cout<<"se3_bezier1 and se3_pol1 should not be approx"<<std::endl;
+ error = true;
+ }
+ //std::cout<<"Should call curve_abc : "<<std::endl;
+ if(!se3_bezier1.isEquivalent(&se3_pol1)){
+ std::cout<<"se3_bezier1 and se3_pol1 should be equivalent"<<std::endl;
error = true;
}
- //std::cout<<"Should call se3 -> bezier / so3 method : "<<std::endl;
+ //std::cout<<"Should call se3 method : "<<std::endl;
if(se3_bezier1 != se3_bezier2){
std::cout<<"se3_bezier1 and se3_bezier2 should be equals"<<std::endl;
error = true;
}
- std::cout<<"Should call se3 -> bezier / 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;
+ //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;
}
- //std::cout<<"Should call se3 -> bezier / so3 method : "<<std::endl;
+ //std::cout<<"Should call se3 -> so3 method : "<<std::endl;
if(se3_bezier1 == se3_bezier3){
std::cout<<"se3_bezier1 and se3_bezier3 should not be equals"<<std::endl;
error = true;
@@ -2583,30 +2592,40 @@ void testOperatorEqual(bool& error){
piecewise_t pc_C4(bc0_ptr);
boost::shared_ptr<bezier_t> bc2_ptr(new bezier_t(params0.begin(), params0.end(), 1., 2.));
pc_C4.add_curve_ptr(bc2_ptr);
- //std::cout<<"Should call curve_abc method : "<<std::endl;
+ //std::cout<<"Should call piecewise method -> bezier , bezier: "<<std::endl;
if(pc_C0 != pc_C1){
std::cout<<"pc_C0 and pc_C1 should be equals"<<std::endl;
error = true;
}
+ //std::cout<<"Should call piecewise method -> bezier , bezier: "<<std::endl;
if(pc_C0 != pc_C2){
std::cout<<"pc_C0 and pc_C2 should be equals"<<std::endl;
error = true;
}
+ //std::cout<<"Should call piecewise method: "<<std::endl;
if(pc_C0 == pc_C3){
std::cout<<"pc_C0 and pc_C3 should not be equals"<<std::endl;
error = true;
}
+ //std::cout<<"Should call piecewise method -> bezier , bezier: "<<std::endl;
if(pc_C0 == pc_C4){
std::cout<<"pc_C0 and pc_C4 should not be equals"<<std::endl;
error = true;
}
// piecewise with mixed curves types
+ //std::cout<<"Should call piecewise method: "<<std::endl;
piecewise_t pc_C5 = pc_C0.convert_piecewise_curve_to_polynomial<polynomial_t>();
- if(pc_C0 != pc_C5){
- std::cout<<"pc_C0 and pc_C5 should be equals"<<std::endl;
+ if(pc_C0 == pc_C5){
+ std::cout<<"pc_C0 and pc_C5 should be not equals"<<std::endl;
+ error = true;
+ }
+ //std::cout<<"Should call curve_abc method: "<<std::endl;
+ if(!pc_C0.isEquivalent(&pc_C5)){
+ std::cout<<"pc_C0 and pc_C5 should be equivalents"<<std::endl;
error = true;
}
+
// piecewise se3 :
piecewise_SE3_t pc_se3_1;
pc_se3_1.add_curve(se3_pol1);
@@ -2622,15 +2641,17 @@ void testOperatorEqual(bool& error){
pc_se3_3.add_curve_ptr(se3_pol_3);
piecewise_SE3_t pc_se3_4(boost::make_shared<SE3Curve_t>(se3_pol2));
pc_se3_4.add_curve_ptr(se3_pol_3);
-
+ //std::cout<<"Should call piecewise method -> SE3 , SE3: "<<std::endl;
if(pc_se3_1 != pc_se3_2){
std::cout<<"pc_se3_1 and pc_se3_2 should be equals"<<std::endl;
error = true;
}
+ //std::cout<<"Should call piecewise method -> SE3 , SE3: "<<std::endl;
if(pc_se3_1 != pc_se3_3){
std::cout<<"pc_se3_1 and pc_se3_3 should be equals"<<std::endl;
error = true;
}
+ //std::cout<<"Should call piecewise method -> SE3 -> polynomial : "<<std::endl;
if(pc_se3_1 == pc_se3_4){
std::cout<<"pc_se3_1 and pc_se3_3 should not be equals"<<std::endl;
error = true;
--
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