Add DebugDrawerTopicTest

source/RobotAPI/libraries/core/test/CMakeLists.txt

@@ -9,3 +9,5 @@ armarx_add_test(CartesianVelocityControllerTest CartesianVelocityControllerTest.
 
 armarx_add_test(CartesianVelocityRampTest CartesianVelocityRampTest.cpp "${LIBS}")
 armarx_add_test(CartesianVelocityControllerWithRampTest CartesianVelocityControllerWithRampTest.cpp "${LIBS}")
+
+armarx_add_test(DebugDrawerTopicTest    DebugDrawerTopicTest.cpp    "${LIBS}")

source/RobotAPI/libraries/core/test/DebugDrawerTopicTest.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2017, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    ArmarX
+ * @author     Mirko Waechter( mirko.waechter at kit dot edu)
+ * @date       2018
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::DebugDrawerTopicTest::Test
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+
+#include <ArmarXCore/core/test/IceTestHelper.h>
+
+#include <RobotAPI/libraries/core/visualization/DebugDrawerTopic.h>
+
+
+using namespace armarx;
+
+
+// PCL-like dummy types.
+
+struct PointXYZ
+{
+    float x, y, z;
+};
+
+struct PointXYZRGBA : public PointXYZ
+{
+    uint8_t r, g, b, a;
+};
+
+struct PointXYZRGBL : public PointXYZRGBA
+{
+    uint32_t label;
+};
+
+template <class PointT>
+struct PointCloud
+{
+private:
+    /// The point container type.
+    using VectorT = std::vector<PointT>;
+    
+public:
+    
+    PointCloud() {}
+    PointCloud(const VectorT& points) : points(points) {}
+    
+    // Container methods.
+    std::size_t size() const { return points.size(); }
+    
+    PointT& operator[](std::size_t i) { return points[i]; }
+    const PointT& operator[](std::size_t i) const { return points[i]; }
+    
+    // Iterators.
+    typename VectorT::iterator begin() { return points.begin(); }
+    typename VectorT::const_iterator begin() const { return points.begin(); }
+    typename VectorT::iterator end() { return points.end(); }
+    typename VectorT::const_iterator end() const { return points.end(); }
+    
+    
+    /// The points.
+    VectorT points;
+};
+
+
+/* These test do not actually check any behaviour, 
+ * but check whether this code compiles.
+ */
+
+template <class PointT>
+struct Fixture
+{
+    Fixture()
+    {
+    }
+    
+    const DebugDrawerTopic::VisuID id {"name", "layer"};
+    const int pointSize = 10;
+    
+    DebugDrawerTopic drawer;
+    
+    PointCloud<PointT> pointCloudMutable;
+    const PointCloud<PointT>& pointCloud = pointCloudMutable;
+};
+
+
+BOOST_FIXTURE_TEST_CASE(test_drawPointCloud_PointXYZ, Fixture<PointXYZ>)
+{
+    pointCloudMutable.points = { {1, 2, 3}, {2, 3, 4}, {3, 4, 5} };
+    
+    drawer.drawPointCloud(id, pointCloud);
+    drawer.drawPointCloud(id, pointCloud.points, DrawColor {0, 0.5, 1, 1});
+    
+    drawer.drawPointCloud(id, pointCloud, 
+                          [](const PointXYZ&) { return DrawColor{0, 0.5, 1, 1}; }, pointSize);
+}
+
+
+BOOST_FIXTURE_TEST_CASE(test_drawPointCloud_PointXYZRGBA, Fixture<PointXYZRGBA>)
+{
+    drawer.drawPointCloud(id, pointCloud);
+    drawer.drawPointCloud(id, pointCloud.points, DrawColor {0, 0.5, 1, 1});
+    
+    drawer.drawPointCloud(id, pointCloud, 
+                          [](const PointXYZRGBA&) { return DrawColor{0, 0.5, 1, 1}; }, pointSize);
+    
+    drawer.drawPointCloudRGBA(id, pointCloud, pointSize);
+}
+
+
+BOOST_FIXTURE_TEST_CASE(test_drawPointCloud_PointXYZRGBL, Fixture<PointXYZRGBL>)
+{
+    drawer.drawPointCloud(id, pointCloud);
+    drawer.drawPointCloud(id, pointCloud.points, DrawColor {0, 0.5, 1, 1});
+    
+    drawer.drawPointCloud(id, pointCloud,
+                          [](const PointXYZRGBL&) { return DrawColor{0, 0.5, 1, 1}; }, pointSize);
+    
+    drawer.drawPointCloudRGBA(id, pointCloud, pointSize);
+}
+
+
+