lightweight_geom_data_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/math/lightweight_geom_data.h>
#include <mrpt/utils/CTraitsTest.h>
#include <gtest/gtest.h>
 
using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;
 
template class mrpt::utils::CTraitsTest<mrpt::math::TPoint2D>;
template class mrpt::utils::CTraitsTest<mrpt::math::TPoint3D>;
template class mrpt::utils::CTraitsTest<mrpt::math::TPoint3Df>;
template class mrpt::utils::CTraitsTest<mrpt::math::TPose2D>;
template class mrpt::utils::CTraitsTest<mrpt::math::TPose3D>;
template class mrpt::utils::CTraitsTest<mrpt::math::TPose3DQuat>;
 
TEST(LightGeomData, PragmaPack)
{
        {
                TPoint2D p;
                EXPECT_TRUE(&p.x == &(p[0]));
                EXPECT_TRUE(&p.y == &(p[1]));
        }
        {
                TPoint3D p;
                EXPECT_TRUE(&p.x == &(p[0]));
                EXPECT_TRUE(&p.y == &(p[1]));
                EXPECT_TRUE(&p.z == &(p[2]));
        }
        {
                TPose2D p;
                EXPECT_TRUE(&p.x == &(p[0]));
                EXPECT_TRUE(&p.y == &(p[1]));
                EXPECT_TRUE(&p.phi == &(p[2]));
        }
        {
                TPose3D p;
                EXPECT_TRUE(&p.x == &(p[0]));
                EXPECT_TRUE(&p.y == &(p[1]));
                EXPECT_TRUE(&p.z == &(p[2]));
                EXPECT_TRUE(&p.yaw == &(p[3]));
                EXPECT_TRUE(&p.pitch == &(p[4]));
                EXPECT_TRUE(&p.roll == &(p[5]));
        }
        {
                TSegment2D s;
                EXPECT_TRUE(&s.point1 == &(s[0]));
                EXPECT_TRUE(&s.point2 == &(s[1]));
        }
}
 
TEST(LightGeomData, ExpectedMemorySizes)
{
        EXPECT_EQ(sizeof(TPoint2D), 2 * sizeof(double));
        EXPECT_EQ(sizeof(TPoint3D), 3 * sizeof(double));
        EXPECT_EQ(sizeof(TPoint3Df), 3 * sizeof(float));
        EXPECT_EQ(sizeof(TPose2D), 3 * sizeof(double));
        EXPECT_EQ(sizeof(TPose3D), 6 * sizeof(double));
        EXPECT_EQ(sizeof(TPose3DQuat), 7 * sizeof(double));
}