text: /*
   * CameraPivotTests.cc 
   * tests 
   *
   * Created by Callum McColl on 20/06/2020.
   * Copyright © 2020 Callum McColl. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   *
   * 2. 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.
   *
   * 3. All advertising materials mentioning features or use of this
   *    software must display the following acknowledgement:
   *
   *        This product includes software developed by Callum McColl.
   *
   * 4. Neither the name of the author nor the names of 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.
   *
   * -----------------------------------------------------------------------
   * This program is free software; you can redistribute it and/or
   * modify it under the above terms or under the terms of the GNU
   * General Public License as published by the Free Software Foundation;
   * either version 2 of the License, or (at your option) any later version.
   *
   * This program is distributed in the hope that it will be useful,
   * but WITHOUT ANY WARRANTY; without even the implied warranty of
   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   * GNU General Public License for more details.
   *
   * You should have received a copy of the GNU General Public License
   * along with this program; if not, see http://www.gnu.org/licenses/
   * or write to the Free Software Foundation, Inc., 51 Franklin Street,
   * Fifth Floor, Boston, MA  02110-1301, USA.
   *
   */
  
  #include "GUWrapperTests.hpp" 
  
  namespace CGTEST {
  
      class CameraPivotCPPTests: public GUWrapperTests<GU::CameraPivot, gu_camera_pivot> {
  
          protected:
  
          gu_camera cameras[GU_CAMERA_PIVOT_NUM_CAMERAS];
          gu_camera_pivot empty_strct;
      
          void preamble()
          {
              cameras[0] = GU_NAO_V5_TOP_CAMERA;
              cameras[1] = GU_NAO_V5_BOTTOM_CAMERA;
              for (int i = 2; i < GU_CAMERA_PIVOT_NUM_CAMERAS; i++)
              {
                  cameras[i].height = 0.0;
                  cameras[i].centerOffset = 0.0;
                  cameras[i].vDirection = 0.0;
                  cameras[i].vFov = 0.0;
                  cameras[i].hFov = 0.0;
              }
              empty_strct.pitch = 0.0;
              empty_strct.yaw = 0.0;
              empty_strct.height = 0.0;
              memcpy(empty_strct.cameras, cameras, GU_CAMERA_PIVOT_NUM_CAMERAS * sizeof(gu_camera));
              empty_strct.numCameras = 0;
          }
  
          GU::CameraPivot initial()
          {
              return GU::CameraPivot(2.0, 3.0, 4.0, cameras, 2);
          }
  
          GU::CameraPivot empty()
          {
              return GU::CameraPivot(empty_strct);
          }
  
          void change(GU::CameraPivot & obj)
          {
              obj.set_pitch(1.0);
          }
  
          void cchange(gu_camera_pivot & obj)
          {
              obj.pitch = 1.0;
              obj.yaw = 2.0;
              obj.height = 3.0;
              memcpy(obj.cameras, cameras, GU_CAMERA_PIVOT_NUM_CAMERAS * sizeof(gu_camera));
              obj.numCameras = 2;
          }
  
          gu_camera_pivot cempty()
          {
              return empty();
          }
  
      };
  
      WRAPPER_TEST_Fs(CameraPivot, gu_camera_pivot)
  
      TEST_F(CameraPivotCPPTests, GettersSetters) {
          gu_camera_pivot nao_c = GU_NAO_V5_HEAD(0.0, 0.0);
          GU::CameraPivot nao = nao_c;
          ASSERT_EQ(nao.pitch(), 0.0);
          nao.set_pitch(5.0);
          ASSERT_EQ(nao.pitch(), 5.0);
          ASSERT_EQ(nao.yaw(), 0.0);
          nao.set_yaw(6.0);
          ASSERT_EQ(nao.yaw(), 6.0);
          ASSERT_EQ(nao.height(), 41.7);
          nao.set_height(7.0);
          ASSERT_EQ(nao.height(), 7.0);
          equals(nao.camera(0), nao_c.cameras[0]);
          nao.set_camera(0, nao_c.cameras[1]);
          equals(nao.camera(1), nao_c.cameras[1]);
      }
  
  }  // namespace
  