diff --git a/SimoxUtility/tests/shapes/AABB_center_extents.json b/SimoxUtility/tests/shapes/AABB_center_extents.json
deleted file mode 100644
index f2b9dd0b55588a1c357bfb4b2bee216c455b8dcf..0000000000000000000000000000000000000000
--- a/SimoxUtility/tests/shapes/AABB_center_extents.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
- "center": [
- 45.0,
- 90.0,
- 135.0
- ],
- "extents": [
- 110.0,
- 220.0,
- 330.0
- ]
-}
diff --git a/SimoxUtility/tests/shapes/AABB_min_max.json b/SimoxUtility/tests/shapes/AABB_min_max.json
deleted file mode 100644
index 68548d143484419177c923a9ea9e9999be6c8044..0000000000000000000000000000000000000000
--- a/SimoxUtility/tests/shapes/AABB_min_max.json
+++ /dev/null
@@ -1,12 +0,0 @@
-{
- "min": [
- -10.0,
- -20.0,
- -30.0
- ],
- "max": [
- 100.0,
- 200.0,
- 300.0
- ]
-}
diff --git a/SimoxUtility/tests/shapes/CMakeLists.txt b/SimoxUtility/tests/shapes/CMakeLists.txt
index 7a6420463205dd73e63c32adfa4e567f269ba227..1fe7401af98926367e970f6d13a04b8a66691f64 100644
--- a/SimoxUtility/tests/shapes/CMakeLists.txt
+++ b/SimoxUtility/tests/shapes/CMakeLists.txt
@@ -4,14 +4,3 @@ ADD_SU_TEST( JsonConversionsTest )
ADD_SU_TEST( OrientedBoxTest )
ADD_SU_TEST( XYConstrainedOrientedBoxTest )
-
-SET(TEST_FILES
- AABB_center_extents.json
- AABB_min_max.json
- OrientedBox_pos_ori_dimensions.json
- OrientedBox_position_orientation_extents.json
-)
-
-foreach (FILENAME IN LISTS TEST_FILES)
- configure_file("${FILENAME}" "${Simox_BINARY_DIR}/SimoxUtility/tests/shapes/${FILENAME}" COPYONLY)
-endforeach()
diff --git a/SimoxUtility/tests/shapes/JsonConversionsTest.cpp b/SimoxUtility/tests/shapes/JsonConversionsTest.cpp
index 2efcca823ad75a5ba7ce92a977bfb2040d14cd16..f74c1894cd8fbd2b2609dfd97a00a8bee4508000 100644
--- a/SimoxUtility/tests/shapes/JsonConversionsTest.cpp
+++ b/SimoxUtility/tests/shapes/JsonConversionsTest.cpp
@@ -4,77 +4,128 @@
* @copyright 2019 Raphael Grimm
*/
-#define BOOST_TEST_MODULE SimoxUtility/shapes/OrientedBoxTest
+#define BOOST_TEST_MODULE SimoxUtility/shapes/JsonConversionsTest
-#include <random>
+#include <fstream>
#include <iostream>
+#include <random>
+#include <filesystem>
#include <boost/test/included/unit_test.hpp>
-#include <filesystem>
-
#include <SimoxUtility/shapes/json_conversions.h>
#include <SimoxUtility/shapes/OrientedBox.h>
#include <SimoxUtility/shapes/AxisAlignedBoundingBox.h>
+#include <SimoxUtility/json/eigen_conversion.h>
#include <SimoxUtility/json/io.h>
-
-
#include <SimoxUtility/json/util.h>
-#include <SimoxUtility/json/eigen_conversion.h>
-namespace
-{
- static const std::vector<std::string> JSON_AABB_FILENAMES = {
- "AABB_center_extents.json",
- "AABB_min_max.json",
- };
- static const std::vector<std::string> JSON_ORIENTED_BOX_FILENAMES = {
- "OrientedBox_position_orientation_extents.json",
- "OrientedBox_pos_ori_dimensions.json",
- };
+#include "JsonConversionsTest_files.h"
- const float PRECF = 1e-3f;
- const double PRECD = 1e-3;
-}
#define BOOST_CHECK_EQUAL_VECTOR(lhs, rhs, prec) \
BOOST_TEST_INFO((lhs).transpose() << " == " << (rhs).transpose()); \
BOOST_CHECK_LE(((lhs) - (rhs)).norm(), prec);
-namespace
+namespace JsonConversionsTest
{
- template <typename Float>
- void test_read_OrientedBox_type(const Float prec)
+ struct Fixture
{
- namespace fs = std::filesystem;
+ const float PRECF = 1e-3f;
+ const double PRECD = 1e-3;
+ std::string prefix = "JsonConversionsTest__";
+
+ std::vector<std::string> jsonAabbFilenames;
+ std::vector<std::string> jsonOrientedBoxFilenames;
+ std::vector<std::string> jsonAllFilenames;
+
+
+ Fixture()
+ {
+ auto writeFile = [this](std::string filename, const std::string& text,
+ std::vector<std::string>& list)
+ {
+ filename = prefix + filename;
+
+ BOOST_TEST_MESSAGE("Writing " << std::filesystem::absolute(filename));
+ if (std::filesystem::exists(filename))
+ {
+ std::filesystem::remove(filename);
+ }
+ {
+ std::ofstream ofs(filename);
+ ofs << text;
+ }
+
+ list.push_back(filename);
+ jsonAllFilenames.push_back(filename);
+ };
+
+ writeFile("AABB_center_extents.json", AABB_center_extents, jsonAabbFilenames);
+ writeFile("AABB_min_max.json", AABB_min_max, jsonAabbFilenames);
+ writeFile("OrientedBox_position_orientation_extents.json", OrientedBox_position_orientation_extents, jsonOrientedBoxFilenames);
+ writeFile("OrientedBox_pos_ori_dimensions.json", OrientedBox_pos_ori_dimensions, jsonOrientedBoxFilenames);
+
+ for (const std::string& filename : jsonAllFilenames)
+ {
+ BOOST_TEST_CONTEXT("filename: " << filename)
+ {
+ BOOST_REQUIRE(std::filesystem::is_regular_file(filename));
+ }
+ }
+ }
+ ~Fixture()
+ {
+ for (const std::string& filename : jsonAllFilenames)
+ {
+ if (std::filesystem::exists(filename))
+ {
+ BOOST_TEST_MESSAGE("Removing " << std::filesystem::absolute(filename));
+ std::filesystem::remove(filename);
+ }
+ }
+ }
- for (const std::string& filename : JSON_ORIENTED_BOX_FILENAMES)
+
+ template <typename FloatT>
+ void test_read_OrientedBox_type(const FloatT prec)
{
- BOOST_TEST_CONTEXT("File " << filename)
+ using Vector3 = Eigen::Matrix<FloatT, 3, 1>;
+ using Quaternion = Eigen::Quaternion<FloatT>;
+
+ for (const std::string& filename : jsonOrientedBoxFilenames)
{
- BOOST_REQUIRE(fs::is_regular_file(filename));
+ BOOST_TEST_CONTEXT("File " << filename)
+ {
+ BOOST_REQUIRE(std::filesystem::is_regular_file(filename));
- const nlohmann::json j = nlohmann::read_json(filename);
+ const nlohmann::json j = nlohmann::read_json(filename);
- const simox::OrientedBox<float> ob = j.get<simox::OrientedBox<float>>();
- BOOST_CHECK_EQUAL_VECTOR(ob.center(), Eigen::Vector3f(10, -20, 0), prec);
- BOOST_CHECK_EQUAL_VECTOR(ob.rotation(), Eigen::Quaternionf(0.707f, 0, 0.707f, 0).toRotationMatrix(), prec);
- BOOST_CHECK_EQUAL_VECTOR(ob.dimensions(), Eigen::Vector3f(100, 200, 300), prec * Float(1e2));
+ const simox::OrientedBox<FloatT> ob = j.get<simox::OrientedBox<FloatT>>();
+ BOOST_CHECK_EQUAL_VECTOR(ob.center(), Vector3(10, -20, 0), prec);
+ BOOST_CHECK_EQUAL_VECTOR(ob.rotation(), Quaternion(0.707, 0, 0.707, 0).toRotationMatrix(), prec);
+ BOOST_CHECK_EQUAL_VECTOR(ob.dimensions(), Vector3(100, 200, 300), prec * FloatT(1e2));
+ }
}
}
- }
+
+ };
+
}
+BOOST_FIXTURE_TEST_SUITE(JsonConversionsTest, Fixture)
+
+
BOOST_AUTO_TEST_CASE(test_read_AABB)
{
namespace fs = std::filesystem;
float prec = 1e-4f;
- for (const std::string& filename : JSON_AABB_FILENAMES)
+ for (const std::string& filename : jsonAabbFilenames)
{
BOOST_TEST_CONTEXT("File " << filename)
{
@@ -97,7 +148,11 @@ BOOST_AUTO_TEST_CASE(test_read_OrientedBox_float)
test_read_OrientedBox_type<float>(PRECF);
}
+
BOOST_AUTO_TEST_CASE(test_read_OrientedBox_double)
{
test_read_OrientedBox_type<double>(PRECD);
}
+
+
+BOOST_AUTO_TEST_SUITE_END()
diff --git a/SimoxUtility/tests/shapes/JsonConversionsTest_files.h b/SimoxUtility/tests/shapes/JsonConversionsTest_files.h
new file mode 100644
index 0000000000000000000000000000000000000000..ba00c2d73270d894942c6841fdda1d19b09ab96c
--- /dev/null
+++ b/SimoxUtility/tests/shapes/JsonConversionsTest_files.h
@@ -0,0 +1,82 @@
+#include <string>
+
+
+static const std::string AABB_center_extents =
+R"(
+{
+ "center": [
+ 45.0,
+ 90.0,
+ 135.0
+ ],
+ "extents": [
+ 110.0,
+ 220.0,
+ 330.0
+ ]
+}
+)";
+
+
+static const std::string AABB_min_max =
+R"(
+{
+ "min": [
+ -10.0,
+ -20.0,
+ -30.0
+ ],
+ "max": [
+ 100.0,
+ 200.0,
+ 300.0
+ ]
+}
+)";
+
+
+static const std::string OrientedBox_position_orientation_extents =
+R"(
+{
+ "extents": [
+ 100.0,
+ 200.0,
+ 300.0
+ ],
+ "orientation": {
+ "qw": 0.707,
+ "qx": 0.0,
+ "qy": 0.707,
+ "qz": 0.0
+ },
+ "position": [
+ 10.0,
+ -20.0,
+ 0.0
+ ]
+}
+)";
+
+
+
+static const std::string OrientedBox_pos_ori_dimensions =
+R"(
+{
+ "dimensions": [
+ 100.0,
+ 200.0,
+ 300.0
+ ],
+ "ori": {
+ "qw": 0.707,
+ "qx": 0.0,
+ "qy": 0.707,
+ "qz": 0.0
+ },
+ "pos": [
+ 10.0,
+ -20.0,
+ 0.0
+ ]
+}
+)";
diff --git a/SimoxUtility/tests/shapes/OrientedBox_pos_ori_dimensions.json b/SimoxUtility/tests/shapes/OrientedBox_pos_ori_dimensions.json
deleted file mode 100644
index d95833135c559c711e0e8fb0fc16f98493495f5d..0000000000000000000000000000000000000000
--- a/SimoxUtility/tests/shapes/OrientedBox_pos_ori_dimensions.json
+++ /dev/null
@@ -1,18 +0,0 @@
-{
- "dimensions": [
- 100.0,
- 200.0,
- 300.0
- ],
- "ori": {
- "qw": 0.707,
- "qx": 0.0,
- "qy": 0.707,
- "qz": 0.0
- },
- "pos": [
- 10.0,
- -20.0,
- 0.0
- ]
-}
diff --git a/SimoxUtility/tests/shapes/OrientedBox_position_orientation_extents.json b/SimoxUtility/tests/shapes/OrientedBox_position_orientation_extents.json
deleted file mode 100644
index 6b708210c61479fe9e17ee52e8bd2c10c8bb548e..0000000000000000000000000000000000000000
--- a/SimoxUtility/tests/shapes/OrientedBox_position_orientation_extents.json
+++ /dev/null
@@ -1,18 +0,0 @@
-{
- "extents": [
- 100.0,
- 200.0,
- 300.0
- ],
- "orientation": {
- "qw": 0.707,
- "qx": 0.0,
- "qy": 0.707,
- "qz": 0.0
- },
- "position": [
- 10.0,
- -20.0,
- 0.0
- ]
-}