expect_eq_macros.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef TRAFFIC_SIMULATOR__TEST__EXPECT_EQ_MACROS_HPP_
#define TRAFFIC_SIMULATOR__TEST__EXPECT_EQ_MACROS_HPP_
 
#include <gtest/gtest.h>
 
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/vector3.hpp>
 
#define EXPECT_DECIMAL_EQ(DATA0, DATA1, TOLERANCE) \
  EXPECT_TRUE(std::fabs(DATA0 - DATA1) <= std::fabs(TOLERANCE));
 
#define EXPECT_POINT_EQ(DATA0, DATA1) \
  EXPECT_DOUBLE_EQ(DATA0.x, DATA1.x); \
  EXPECT_DOUBLE_EQ(DATA0.y, DATA1.y); \
  EXPECT_DOUBLE_EQ(DATA0.z, DATA1.z);
 
#define EXPECT_BOOST_POINT_2D_AND_POINT_EQ(DATA0, DATA1) \
  EXPECT_DOUBLE_EQ(DATA0.x(), DATA1.x);                  \
  EXPECT_DOUBLE_EQ(DATA0.y(), DATA1.y);
 
#define EXPECT_POINT_NEAR(DATA0, DATA1, TOLERANCE) \
  EXPECT_NEAR(DATA0.x, DATA1.x, TOLERANCE);        \
  EXPECT_NEAR(DATA0.y, DATA1.y, TOLERANCE);        \
  EXPECT_NEAR(DATA0.z, DATA1.z, TOLERANCE);
 
#define EXPECT_POINT_NAN(DATA)     \
  EXPECT_TRUE(std::isnan(DATA.x)); \
  EXPECT_TRUE(std::isnan(DATA.y)); \
  EXPECT_TRUE(std::isnan(DATA.z));
 
#define EXPECT_VECTOR3_EQ(DATA0, DATA1) \
  EXPECT_DOUBLE_EQ(DATA0.x, DATA1.x);   \
  EXPECT_DOUBLE_EQ(DATA0.y, DATA1.y);   \
  EXPECT_DOUBLE_EQ(DATA0.z, DATA1.z);
 
#define EXPECT_VECTOR3_NEAR(DATA0, DATA1, TOLERANCE) \
  EXPECT_NEAR(DATA0.x, DATA1.x, TOLERANCE);          \
  EXPECT_NEAR(DATA0.y, DATA1.y, TOLERANCE);          \
  EXPECT_NEAR(DATA0.z, DATA1.z, TOLERANCE);
 
#define EXPECT_QUATERNION_EQ(DATA0, DATA1) \
  EXPECT_DOUBLE_EQ(DATA0.x, DATA1.x);      \
  EXPECT_DOUBLE_EQ(DATA0.y, DATA1.y);      \
  EXPECT_DOUBLE_EQ(DATA0.z, DATA1.z);      \
  EXPECT_DOUBLE_EQ(DATA0.w, DATA1.w);
 
#define EXPECT_QUATERNION_NEAR(DATA0, DATA1, TOLERANCE) \
  EXPECT_NEAR(DATA0.x, DATA1.x, TOLERANCE);             \
  EXPECT_NEAR(DATA0.y, DATA1.y, TOLERANCE);             \
  EXPECT_NEAR(DATA0.z, DATA1.z, TOLERANCE);             \
  EXPECT_NEAR(DATA0.w, DATA1.w, TOLERANCE);
 
#define EXPECT_POSE_EQ(DATA0, DATA1)               \
  EXPECT_POINT_EQ(DATA0.position, DATA1.position); \
  EXPECT_QUATERNION_EQ(DATA0.orientation, DATA1.orientation);
 
#define EXPECT_POSE_NEAR(DATA0, DATA1, TOLERANCE)               \
  EXPECT_POINT_NEAR(DATA0.position, DATA1.position, TOLERANCE); \
  EXPECT_QUATERNION_NEAR(DATA0.orientation, DATA1.orientation, TOLERANCE);
 
#define EXPECT_LANELET_POSE_EQ(DATA0, DATA1)     \
  EXPECT_EQ(DATA0.lanelet_id, DATA1.lanelet_id); \
  EXPECT_DOUBLE_EQ(DATA0.s, DATA1.s);            \
  EXPECT_DOUBLE_EQ(DATA0.offset, DATA1.offset);  \
  EXPECT_VECTOR3_EQ(DATA0.rpy, DATA1.rpy);
 
#define EXPECT_TWIST_EQ(DATA0, DATA1)            \
  EXPECT_VECTOR3_EQ(DATA0.linear, DATA1.linear); \
  EXPECT_VECTOR3_EQ(DATA0.angular, DATA1.angular);
 
#define EXPECT_ACCEL_EQ(DATA0, DATA1)            \
  EXPECT_VECTOR3_EQ(DATA0.linear, DATA1.linear); \
  EXPECT_VECTOR3_EQ(DATA0.angular, DATA1.angular);
 
#define EXPECT_ACTION_STATUS_EQ(DATA0, DATA1) \
  EXPECT_ACCEL_EQ(DATA0.accel, DATA1.accel);  \
  EXPECT_TWIST_EQ(DATA0.twist, DATA1.twist);  \
  EXPECT_STREQ(DATA0.current_action.c_str(), DATA1.current_action.c_str());
 
#define EXPECT_DETECTION_SENSOR_CONFIGURATION_EQ(DATA0, DATA1)                        \
  EXPECT_STREQ(DATA0.entity().c_str(), DATA1.entity().c_str());                       \
  EXPECT_STREQ(DATA0.architecture_type().c_str(), DATA1.architecture_type().c_str()); \
  EXPECT_DOUBLE_EQ(DATA0.update_duration(), DATA1.update_duration());
 
#endif  // TRAFFIC_SIMULATOR__TEST__EXPECT_EQ_MACROS_HPP_