moved rtabmap-ros-pkg project in this project

git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@52 f169173b-cf89-36c8-b27e-44dbe73f0c83
2026-09-03 01:50:24 +08:00 · 2011-06-05 14:45:39 +00:00
commit 2d73090f3a
338 changed files with 56859 additions and 0 deletions
--- a/corelib/tests/main.cpp
+++ b/corelib/tests/main.cpp
@@ -0,0 +1,81 @@
+/*
+ * Copyright (C) 2010-2011, Mathieu Labbe and IntRoLab - Universite de Sherbrooke
+ *
+ * This file is part of RTAB-Map.
+ *
+ * RTAB-Map is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * RTAB-Map 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 RTAB-Map.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <cppunit/BriefTestProgressListener.h>
+#include <cppunit/CompilerOutputter.h>
+#include <cppunit/extensions/TestFactoryRegistry.h>
+#include <cppunit/TestResult.h>
+#include <cppunit/TestResultCollector.h>
+#include <cppunit/TestRunner.h>
+
+#include <iostream>
+#include <fstream>
+
+#ifdef _MSC_VER
+// Use Visual C++'s memory checking functionality
+#define _CRTDBG_MAP_ALLOC
+#include <crtdbg.h>
+#endif // _MSC_VER
+
+int main( int argc, char **argv)
+{    
+    #ifdef _MSC_VER
+    //_crtBreakAlloc = 189;
+    _CrtSetDbgFlag ( _CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF ); 
+    #endif // _MSC_VER
+
+    //Header of the test
+    char header[150] = "-------------------------------------\n"
+                       "corelib Test\n"
+                       "-------------------------------------\n";
+    CPPUNIT_NS::stdCOut() << header;
+
+    // Create the event manager and test controller
+    CPPUNIT_NS::TestResult controller;
+
+    // Add a listener that colllects test result
+    CPPUNIT_NS::TestResultCollector result;
+    controller.addListener(&result);
+
+    // Add a listener that print dots as test run.
+    CPPUNIT_NS::BriefTestProgressListener progress;
+    controller.addListener(&progress);      
+
+    // Add the top suite to the test runner
+    CPPUNIT_NS::TestRunner runner;
+    runner.addTest(CPPUNIT_NS::TestFactoryRegistry::getRegistry().makeTest());
+    runner.run(controller);
+
+    // Print test in a compiler compatible format.
+    CPPUNIT_NS::CompilerOutputter outputter( &result, CPPUNIT_NS::stdCOut() );
+    outputter.write(); 
+
+    // If a path is passed in argument copy the result in it
+    if (argc == 2)
+    {
+        std::ofstream myfile;
+        myfile.open (argv[1]);
+        CPPUNIT_NS::CompilerOutputter outputterFile( &result, myfile);
+        myfile << header;
+        outputterFile.write(); 
+        myfile.close();
+    }
+
+    return 0;
+}