58 lines
1.6 KiB
C++
58 lines
1.6 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/common/fixed_ratio_sampler.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace common {
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namespace {
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TEST(FixedRatioSamplerTest, AlwaysTrue) {
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FixedRatioSampler fixed_ratio_sampler(1.);
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for (int i = 0; i < 100; ++i) {
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EXPECT_TRUE(fixed_ratio_sampler.Pulse());
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}
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}
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TEST(FixedRatioSamplerTest, AlwaysFalse) {
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FixedRatioSampler fixed_ratio_sampler(0.);
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for (int i = 0; i < 100; ++i) {
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EXPECT_FALSE(fixed_ratio_sampler.Pulse());
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}
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}
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TEST(FixedRatioSamplerTest, SometimesTrue) {
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FixedRatioSampler fixed_ratio_sampler(0.5);
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for (int i = 0; i < 100; ++i) {
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EXPECT_EQ(i % 2 == 0, fixed_ratio_sampler.Pulse());
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}
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}
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TEST(FixedRatioSamplerTest, FirstPulseIsTrue) {
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// Choose a very very small positive number for the ratio.
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FixedRatioSampler fixed_ratio_sampler(1e-20);
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EXPECT_TRUE(fixed_ratio_sampler.Pulse());
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for (int i = 0; i < 100; ++i) {
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EXPECT_FALSE(fixed_ratio_sampler.Pulse());
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}
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}
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} // namespace
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} // namespace common
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} // namespace cartographer
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