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lcmt_drake_signal_utils_test.cc
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lcmt_drake_signal_utils_test.cc
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#include "drake/lcm/lcmt_drake_signal_utils.h"
#include <gtest/gtest.h>
#include "drake/common/drake_copyable.h"
#include "drake/lcmt_drake_signal.hpp"
namespace drake {
namespace lcm {
namespace {
// This is a test fixture.
class LcmtDrakeSignalUtilsTest : public ::testing::Test {
public:
DRAKE_NO_COPY_NO_MOVE_NO_ASSIGN(LcmtDrakeSignalUtilsTest)
LcmtDrakeSignalUtilsTest() = default;
protected:
void SetUp() override {
message1_.dim = 2;
message1_.val.push_back(0.3739558136);
message1_.val.push_back(0.2801694990);
message1_.coord.push_back("artin's constant");
message1_.coord.push_back("bernstein's constant");
message1_.timestamp = 142857;
message2_ = message1_;
}
drake::lcmt_drake_signal message1_{};
drake::lcmt_drake_signal message2_{};
};
// Tests CompareLcmtDrakeSignalMessages()'s ability to determine that two
// `drake::lcmt_drake_signal` messages are equal.
TEST_F(LcmtDrakeSignalUtilsTest, TestMatch) {
EXPECT_TRUE(CompareLcmtDrakeSignalMessages(message1_, message2_));
}
// Tests CompareLcmtDrakeSignalMessages()'s ability to determine that two
// `drake::lcmt_drake_signal` messages are unequal because their dimensions
// don't match.
TEST_F(LcmtDrakeSignalUtilsTest, TestDimensionsMismatch) {
message2_.dim = 1;
message2_.val.pop_back();
message2_.coord.pop_back();
EXPECT_FALSE(CompareLcmtDrakeSignalMessages(message1_, message2_));
}
// Tests CompareLcmtDrakeSignalMessages()'s ability to determine that two
// `drake::lcmt_drake_signal` messages are unequal because their timestamps
// don't match.
TEST_F(LcmtDrakeSignalUtilsTest, TestTimestampsMismatch) {
message2_.timestamp = 4;
EXPECT_FALSE(CompareLcmtDrakeSignalMessages(message1_, message2_));
}
// Tests CompareLcmtDrakeSignalMessages()'s ability to determine that two
// `drake::lcmt_drake_signal` messages are unequal because their values
// don't match.
TEST_F(LcmtDrakeSignalUtilsTest, TestValMismatch) {
message2_.val[0] = 1980;
EXPECT_FALSE(CompareLcmtDrakeSignalMessages(message1_, message2_));
}
// Tests CompareLcmtDrakeSignalMessages()'s ability to determine that two
// `drake::lcmt_drake_signal` messages are unequal because their coordinates
// don't match.
TEST_F(LcmtDrakeSignalUtilsTest, TestCoordMismatch) {
message2_.coord[0] = "foo";
EXPECT_FALSE(CompareLcmtDrakeSignalMessages(message1_, message2_));
}
} // namespace
} // namespace lcm
} // namespace drake