expect_eq_macros.hpp

Go to the documentation of this file.

// 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_POINT_EQ_STREAM(DATA0, DATA1, STREAM_MESSAGE) \
  EXPECT_DOUBLE_EQ(DATA0.x, DATA1.x) << STREAM_MESSAGE;      \
  EXPECT_DOUBLE_EQ(DATA0.y, DATA1.y) << STREAM_MESSAGE;      \
  EXPECT_DOUBLE_EQ(DATA0.z, DATA1.z) << STREAM_MESSAGE;
 
#define EXPECT_POINT_NEAR(DATA0, DATA1, EPS) \
  EXPECT_NEAR(DATA0.x, DATA1.x, EPS);        \
  EXPECT_NEAR(DATA0.y, DATA1.y, EPS);        \
  EXPECT_NEAR(DATA0.z, DATA1.z, EPS);
 
#define EXPECT_POINT_NEAR_STREAM(DATA0, DATA1, EPS, STREAM_MESSAGE) \
  EXPECT_NEAR(DATA0.x, DATA1.x, EPS) << STREAM_MESSAGE;             \
  EXPECT_NEAR(DATA0.y, DATA1.y, EPS) << STREAM_MESSAGE;             \
  EXPECT_NEAR(DATA0.z, DATA1.z, EPS) << STREAM_MESSAGE;
 
#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, EPS) \
  EXPECT_NEAR(DATA0.x, DATA1.x, EPS);          \
  EXPECT_NEAR(DATA0.y, DATA1.y, EPS);          \
  EXPECT_NEAR(DATA0.z, DATA1.z, EPS);
 
#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, EPS) \
  EXPECT_NEAR(DATA0.x, DATA1.x, EPS);             \
  EXPECT_NEAR(DATA0.y, DATA1.y, EPS);             \
  EXPECT_NEAR(DATA0.z, DATA1.z, EPS);             \
  EXPECT_NEAR(DATA0.w, DATA1.w, EPS);
 
#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, EPS)               \
  EXPECT_POINT_NEAR(DATA0.position, DATA1.position, EPS); \
  EXPECT_QUATERNION_NEAR(DATA0.orientation, DATA1.orientation, EPS);
 
#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_LANELET_POSE_NEAR(DATA0, DATA1, EPS) \
  EXPECT_EQ(DATA0.lanelet_id, DATA1.lanelet_id);    \
  EXPECT_NEAR(DATA0.s, DATA1.s, EPS);               \
  EXPECT_NEAR(DATA0.offset, DATA1.offset, EPS);     \
  EXPECT_VECTOR3_NEAR(DATA0.rpy, DATA1.rpy, EPS);
 
#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());
 
#define EXPECT_DYNAMIC_CONSTRAINTS_EQ(DATA0, DATA1)                    \
  EXPECT_EQ(DATA0.max_speed, DATA1.max_speed);                         \
  EXPECT_EQ(DATA0.max_acceleration, DATA1.max_acceleration);           \
  EXPECT_EQ(DATA0.max_deceleration, DATA1.max_deceleration);           \
  EXPECT_EQ(DATA0.max_acceleration_rate, DATA1.max_acceleration_rate); \
  EXPECT_EQ(DATA0.max_deceleration_rate, DATA1.max_deceleration_rate);
 
#define EXPECT_LANE_CHANGE_ABSOLUTE_TARGET_EQ(DATA0, DATA1) \
  EXPECT_EQ(DATA0.lanelet_id, DATA1.lanelet_id);            \
  EXPECT_DOUBLE_EQ(DATA0.offset, DATA1.offset);
 
#define EXPECT_LANE_CHANGE_RELATIVE_TARGET_EQ(DATA0, DATA1) \
  EXPECT_EQ(DATA0.entity_name, DATA1.entity_name);          \
  EXPECT_EQ(DATA0.direction, DATA1.direction);              \
  EXPECT_EQ(DATA0.shift, DATA1.shift);                      \
  EXPECT_DOUBLE_EQ(DATA0.offset, DATA1.offset);
 
#define EXPECT_LANE_CHANGE_CONSTRAINT_EQ(DATA0, DATA1) \
  EXPECT_EQ(DATA0.type, DATA1.type);                   \
  EXPECT_DOUBLE_EQ(DATA0.value, DATA1.value);          \
  EXPECT_EQ(DATA0.policy, DATA1.policy);
 
#define EXPECT_LANE_CHANGE_PARAMETER_EQ(DATA0, DATA1)                \
  EXPECT_LANE_CHANGE_ABSOLUTE_TARGET_EQ(DATA0.target, DATA1.target); \
  EXPECT_EQ(DATA0.trajectory_shape, DATA1.trajectory_shape);         \
  EXPECT_LANE_CHANGE_CONSTRAINT_EQ(DATA0.constraint, DATA1.constraint);
 
#endif  // TRAFFIC_SIMULATOR__TEST__EXPECT_EQ_MACROS_HPP_