gait_pattern_graph_tree_test.h

[詳解]

 
 
// Copyright(c) 2023-2025 Design Engineering Laboratory, Saitama University
// Released under the MIT license
// https://opensource.org/licenses/mit-license.php
 
#ifndef DESIGNLAB_GAIT_PATTERN_GRAPH_TREE_TEST_H_
#define DESIGNLAB_GAIT_PATTERN_GRAPH_TREE_TEST_H_
 
#include "doctest.h"
#include "gait_pattern_graph_tree.h"
 
TEST_SUITE("GaitPatternGraphTree::Constructor") {
  using designlab::GaitPatternGraphTree;
 
  TEST_CASE("初期化した時,グラフの要素は０になるべき") {
    const GaitPatternGraphTree tree_10(10);
    const GaitPatternGraphTree tree_1000(1000);
 
    SUBCASE("グラフのサイズは0になるべき") {
      const float expect_size = 0;
 
      CHECK(tree_10.GetGraphSize() == expect_size);
 
      CHECK(tree_1000.GetGraphSize() == expect_size);
    }
 
    SUBCASE("グラフが空になるべき") {
      CHECK(tree_10.IsEmpty());
 
      CHECK(tree_1000.IsEmpty());
    }
  }
 
  TEST_CASE("初期化した時,ルートは存在するべきでない") {
    GaitPatternGraphTree tree_10(10);
    CHECK_FALSE(tree_10.HasRoot());
 
    GaitPatternGraphTree tree_1000(1000);
    CHECK_FALSE(tree_1000.HasRoot());
  }
}
 
TEST_SUITE("GaitPatternGraphTree::HasRoot") {
  using designlab::GaitPatternGraphTree;
  using designlab::RobotStateNode;
 
  TEST_CASE("根ノードがある時,trueを返すべき") {
    RobotStateNode root_node;
    root_node.ChangeLootNode();
 
    // Arrange1.
    GaitPatternGraphTree tree_10(10);
    CHECK_FALSE(tree_10.HasRoot());
    tree_10.AddNode(root_node);
 
    // Assert1.
    CHECK(tree_10.HasRoot());
 
    // Arrange2.
    GaitPatternGraphTree tree_1000(1000);
    CHECK_FALSE(tree_1000.HasRoot());
    tree_1000.AddNode(root_node);
 
    // Assert2.
    CHECK(tree_1000.HasRoot());
  }
}
 
#endif  // DESIGNLAB_GAIT_PATTERN_GRAPH_TREE_TEST_H_