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::Constructor") {…}
 
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());
    }
}
TEST_SUITE("GaitPatternGraphTree::HasRoot") {…}
 
#endif  // DESIGNLAB_GAIT_PATTERN_GRAPH_TREE_TEST_H_