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value_checker.cpp
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Sun, May 26, 23:03
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rSPECMICP SpecMiCP / ReactMiCP
value_checker.cpp
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#include "catch.hpp"
#include "specmicp_common/eigen/value_checker.hpp"
using namespace specmicp;
using namespace value_checker;
specmicp_create_value_predicate(GreaterThan0, (value > 0.0));
specmicp_create_value_predicate(LessThan5, (value < 5.0));
specmicp_strict_lower_bound_predicate(GreaterThan5, 5.0);
specmicp_strict_upper_bound_predicate(LowerThan0, 0.0);
TEST_CASE("Value checker", "checker") {
SECTION("True for all") {
TrueForAll<GreaterThan0> checker;
Vector test1(4);
test1 << 1, 2, 3, 4;
CHECK(checker.check(test1) == IsValidVector::good);
Vector test2(4);
test2 << 1, -2, 3, 4;
CHECK(checker.check(test2) == IsValidVector::error);
}
SECTION("True for at least one") {
TrueForAtLeastOne<IsNonZero> checker;
Vector test_good(4);
test_good << 0, 0, 1, 0;
CHECK(checker.check(test_good) == IsValidVector::good);
Vector test_good_2(4);
test_good << 2, 1, 1, 4;
CHECK(checker.check(test_good_2) == IsValidVector::good);
Vector test_bad(4);
test_bad << 0.0, 0.0, 0.0, 0.0;
CHECK(checker.check(test_bad) == IsValidVector::error);
}
SECTION("Checker composer") {
Composer<TrueForAll<GreaterThan0>,
TrueForAll<LessThan5,IsValidVector::critical>> checker;
Vector test_good(4);
test_good << 1, 2, 3, 4;
CHECK(checker.check(test_good) == IsValidVector::good);
Vector test_bad_1(4);
test_bad_1 << 1, 2, 3, 6;
CHECK(checker.check(test_bad_1) == IsValidVector::critical);
Vector test_bad_2(4);
test_bad_2 << 1, 2, -1, 6;
CHECK(checker.check(test_bad_2) == IsValidVector::critical);
Vector test_bad_3(4);
test_bad_3 << 1, 2, -1, 2;
CHECK(checker.check(test_bad_3) == IsValidVector::error);
}
SECTION("Predicate composer - And") {
TrueForAll<PredicateAnd<GreaterThan0,LessThan5>> checker_and;
Vector test_good(4);
test_good << 1, 2, 3, 4;
CHECK(checker_and.check(test_good) == IsValidVector::good);
Vector test_bad_1(4);
test_bad_1 << 1, 2, 3, 6;
CHECK(checker_and.check(test_bad_1) == IsValidVector::error);
Vector test_bad_2(4);
test_bad_2 << 1, 2, -1, 6;
CHECK(checker_and.check(test_bad_2) == IsValidVector::error);
Vector test_bad_3(4);
test_bad_3 << 1, 2, -1, 2;
CHECK(checker_and.check(test_bad_3) == IsValidVector::error);
}
SECTION("Predicate composer - Or/Xor") {
TrueForAll<PredicateOr<LowerThan0,GreaterThan5>> checker_or;
Vector test_good_or(4);
test_good_or << -1, -2, 6, 7;
CHECK(checker_or.check(test_good_or) == IsValidVector::good);
Vector test_bad_or(4);
test_bad_or << -1, 3, 6, 7;
CHECK(checker_or.check(test_bad_or) == IsValidVector::error);
TrueForAll<PredicateXOr<GreaterThan0,LessThan5>> checker_xor;
CHECK(checker_xor.check(test_good_or) == IsValidVector::good);
CHECK(checker_xor.check(test_bad_or) == IsValidVector::error);
}
SECTION("Predicate composer - Not") {
TrueForAll<PredicateNot<GreaterThan0>> checker_not;
Vector test_good_not(4);
test_good_not << -1, -2, -3, -4;
CHECK(checker_not.check(test_good_not) == IsValidVector::good);
Vector test_bad_not(4);
test_bad_not << -1, -2, 3, -4;
CHECK(checker_not.check(test_bad_not) == IsValidVector::error);
}
}
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