Project: engagement_recognition License: BSD Dependencies: engagement_msgs engagement_srvs roscpp Used by: None All Packages

engagement_recognition/test/actors/robot_test.cpp Go to the documentation of this file. /* * Software License Agreement (BSD License) * * Copyright (c) 2010, Worcester Polytechnic Institute * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above * copyright notice, this list of conditions and the following * disclaimer in the documentation and/or other materials provided * with the distribution. * * Neither the name of Worcester Polytechnic Institute. nor the names * of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. */ #include <gtest/gtest.h> #include <vector> #include <string> #include "../src/recognition/actors/robot.h" TEST(RobotTestSuite, testConstructor) { Robot robot = Robot(); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_FALSE(robot.isFacialGaze("face0")); EXPECT_FALSE(robot.isSpeaking()); EXPECT_FALSE(robot.isLooking(std::vector<std::string>(objects))); EXPECT_FALSE(robot.isPointing(std::vector<std::string>(objects))); EXPECT_FALSE(robot.isPointing(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, robot.getLooking().size()); EXPECT_EQ((unsigned)0, robot.getPointing().size()); EXPECT_EQ((unsigned)0, robot.getPointing().size()); EXPECT_TRUE(robot.getLogger()); } TEST(RobotTestSuite, testFacialGaze) { Robot robot = Robot(); std::string actor = "face0"; EXPECT_FALSE(robot.isFacialGaze(actor)); robot.setFacialGaze(true, actor); EXPECT_TRUE(robot.isFacialGaze(actor)); robot.setFacialGaze(true, actor); EXPECT_TRUE(robot.isFacialGaze(actor)); robot.setFacialGaze(false, actor); EXPECT_FALSE(robot.isFacialGaze(actor)); robot.setFacialGaze(false, actor); EXPECT_FALSE(robot.isFacialGaze(actor)); robot.setFacialGaze(false, ""); EXPECT_FALSE(robot.isFacialGaze(actor)); robot.setFacialGaze(true, actor); EXPECT_TRUE(robot.isFacialGaze(actor)); robot.setFacialGaze(false, ""); EXPECT_FALSE(robot.isFacialGaze(actor)); } TEST(RobotTestSuite, testSpeaking) { Robot robot = Robot(); EXPECT_FALSE(robot.isSpeaking()); robot.setSpeaking(true); EXPECT_TRUE(robot.isSpeaking()); robot.setSpeaking(true); EXPECT_TRUE(robot.isSpeaking()); robot.setSpeaking(false); EXPECT_FALSE(robot.isSpeaking()); robot.setSpeaking(false); EXPECT_FALSE(robot.isSpeaking()); } TEST(RobotTestSuite, testLooking) { Robot robot = Robot(); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_FALSE(robot.isLooking(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, robot.getLooking().size()); robot.setLookAt(true, objects); EXPECT_EQ(objects.size(), robot.getLooking().size()); EXPECT_EQ(objects.at(0), robot.getLooking().at(0)); robot.setLookAt(true, objects); EXPECT_EQ(objects.size(), robot.getLooking().size()); EXPECT_EQ(objects.at(0), robot.getLooking().at(0)); robot.setLookAt(false, objects); EXPECT_EQ((unsigned)0, robot.getLooking().size()); robot.setLookAt(false, objects); EXPECT_EQ((unsigned)0, robot.getLooking().size()); objects.clear(); robot.setLookAt(true, objects); EXPECT_EQ((unsigned)0, robot.getLooking().size()); objects.push_back("blue-plate"); objects.push_back("red-plate"); objects.push_back("green-plate"); robot.setLookAt(true, objects); EXPECT_EQ(objects.size(), robot.getLooking().size()); EXPECT_EQ(objects.at(0), robot.getLooking().at(0)); EXPECT_EQ(objects.at(1), robot.getLooking().at(1)); EXPECT_EQ(objects.at(2), robot.getLooking().at(2)); objects.clear(); robot.setLookAt(true, objects); EXPECT_EQ((unsigned)0, robot.getLooking().size()); objects.push_back("blue-plate"); objects.push_back("green-plate"); robot.setLookAt(false, objects); EXPECT_EQ((unsigned)0, robot.getLooking().size()); objects.clear(); objects.push_back("red-plate"); robot.setLookAt(false, objects); EXPECT_EQ((unsigned)0, robot.getLooking().size()); } TEST(RobotTestSuite, testPointing) { Robot robot = Robot(); std::vector<std::string> objects; objects.push_back("blue-plate"); EXPECT_FALSE(robot.isPointing(std::vector<std::string>(objects))); EXPECT_EQ((unsigned)0, robot.getPointing().size()); robot.setPointAt(true, objects); EXPECT_TRUE(robot.isPointing(objects)); EXPECT_EQ(objects.size(), robot.getPointing().size()); EXPECT_EQ(objects.at(0), robot.getPointing().at(0)); robot.setPointAt(true, objects); EXPECT_TRUE(robot.isPointing(objects)); EXPECT_EQ(objects.size(), robot.getPointing().size()); EXPECT_EQ(objects.at(0), robot.getPointing().at(0)); robot.setPointAt(false, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); robot.setPointAt(false, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); objects.clear(); robot.setPointAt(true, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); objects.push_back("blue-plate"); objects.push_back("red-plate"); objects.push_back("green-plate"); robot.setPointAt(true, objects); EXPECT_TRUE(robot.isPointing(objects)); EXPECT_EQ(objects.size(), robot.getPointing().size()); EXPECT_EQ(objects.at(0), robot.getPointing().at(0)); EXPECT_EQ(objects.at(1), robot.getPointing().at(1)); EXPECT_EQ(objects.at(2), robot.getPointing().at(2)); objects.clear(); robot.setPointAt(true, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)3, robot.getPointing().size()); EXPECT_EQ("blue-plate", robot.getPointing().at(0)); EXPECT_EQ("red-plate", robot.getPointing().at(1)); EXPECT_EQ("green-plate", robot.getPointing().at(2)); objects.push_back("blue-plate"); objects.push_back("green-plate"); robot.setPointAt(false, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)1, robot.getPointing().size()); EXPECT_EQ("red-plate", robot.getPointing().at(0)); objects.clear(); objects.push_back("red-plate"); robot.setPointAt(false, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); objects.clear(); robot.setPointAt(true, objects); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); objects.push_back("blue-plate"); objects.push_back("red-plate"); objects.push_back("green-plate"); robot.setPointAt(true, objects); EXPECT_TRUE(robot.isPointing(objects)); robot.donePoint(); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); robot.donePoint(); EXPECT_FALSE(robot.isPointing(objects)); EXPECT_EQ((unsigned)0, robot.getPointing().size()); } TEST(RobotTestSuite, testWaiting) { Robot robot = Robot(); EXPECT_FALSE(robot.isWaiting()); robot.setWaiting(true); EXPECT_TRUE(robot.isWaiting()); robot.setWaiting(true); EXPECT_TRUE(robot.isWaiting()); robot.setWaiting(false); EXPECT_FALSE(robot.isWaiting()); robot.setWaiting(false); EXPECT_FALSE(robot.isWaiting()); }

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engagement_recognition
Author(s): Brett Ponsler (bponsler (at) wpi (dot) edu)
autogenerated on Fri Sep 9 10:35:48 2011