lightweight_geom_data_unittest.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */


#include <mrpt/math/lightweight_geom_data.h>
#include <gtest/gtest.h>

using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;


TEST(LightGeomData, PragmaPack)
{
        {
                TPoint2D p;
                EXPECT_TRUE(&p.x==&(p[0]));
                EXPECT_TRUE(&p.y==&(p[1]));
        }
        {
                TPoint3D p;
                EXPECT_TRUE(&p.x==&(p[0]));
                EXPECT_TRUE(&p.y==&(p[1]));
                EXPECT_TRUE(&p.z==&(p[2]));
        }
        {
                TPose2D p;
                EXPECT_TRUE(&p.x==&(p[0]));
                EXPECT_TRUE(&p.y==&(p[1]));
                EXPECT_TRUE(&p.phi==&(p[2]));
        }
        {
                TPose3D p;
                EXPECT_TRUE(&p.x==&(p[0]));
                EXPECT_TRUE(&p.y==&(p[1]));
                EXPECT_TRUE(&p.z==&(p[2]));
                EXPECT_TRUE(&p.yaw==&(p[3]));
                EXPECT_TRUE(&p.pitch==&(p[4]));
                EXPECT_TRUE(&p.roll==&(p[5]));
        }
        {
                TSegment2D s;
                EXPECT_TRUE(&s.point1==&(s[0]));
                EXPECT_TRUE(&s.point2==&(s[1]));
        }
}

TEST(LightGeomData, ExpectedMemorySizes)
{
        EXPECT_EQ(sizeof(TPoint2D),2*sizeof(double));
        EXPECT_EQ(sizeof(TPoint3D),3*sizeof(double));
        EXPECT_EQ(sizeof(TPoint3Df),3*sizeof(float));
        EXPECT_EQ(sizeof(TPose2D),3*sizeof(double));
        EXPECT_EQ(sizeof(TPose3D),6*sizeof(double));
        EXPECT_EQ(sizeof(TPose3DQuat),7*sizeof(double));
}