From 9f5564576adc11927ed0870840560d875edd0f03 Mon Sep 17 00:00:00 2001
From: bpwilcox <bpwilcox@eng.ucsd.edu>
Date: Thu, 13 Jun 2019 12:32:42 -0700
Subject: [PATCH] use unsigned int shorthand
---
.../test/integration/footprint_tests.cpp | 10 +++----
.../test/integration/inflation_tests.cpp | 26 +++++++++----------
.../test/unit/array_parser_test.cpp | 6 ++---
3 files changed, 21 insertions(+), 21 deletions(-)
diff --git a/nav2_costmap_2d/test/integration/footprint_tests.cpp b/nav2_costmap_2d/test/integration/footprint_tests.cpp
index 1a0f2cbf..f2aa7c74 100644
--- a/nav2_costmap_2d/test/integration/footprint_tests.cpp
+++ b/nav2_costmap_2d/test/integration/footprint_tests.cpp
@@ -118,7 +118,7 @@ TEST_F(TestNode, footprint_empty)
std::vector<geometry_msgs::msg::Point> footprint = footprint_tester_->getRobotFootprint();
// With no specification of footprint or radius,
// defaults to 0.1 meter radius plus 0.01 meter padding.
- EXPECT_EQ((unsigned int)16, footprint.size());
+ EXPECT_EQ(16u, footprint.size());
EXPECT_NEAR(0.11f, footprint[0].x, 0.0001);
EXPECT_NEAR(0.0f, footprint[0].y, 0.0001);
@@ -130,7 +130,7 @@ TEST_F(TestNode, unpadded_footprint_from_string_param)
footprint_tester_->testFootprint(0.0, "[[1, 1], [-1, 1], [-1, -1]]");
std::vector<geometry_msgs::msg::Point> footprint = footprint_tester_->getRobotFootprint();
- EXPECT_EQ((unsigned int)3, footprint.size());
+ EXPECT_EQ(3u, footprint.size());
EXPECT_EQ(1.0f, footprint[0].x);
EXPECT_EQ(1.0f, footprint[0].y);
@@ -150,7 +150,7 @@ TEST_F(TestNode, padded_footprint_from_string_param)
footprint_tester_->testFootprint(0.5, "[[1, 1], [-1, 1], [-1, -1]]");
std::vector<geometry_msgs::msg::Point> footprint = footprint_tester_->getRobotFootprint();
- EXPECT_EQ((unsigned int)3, footprint.size());
+ EXPECT_EQ(3u, footprint.size());
EXPECT_EQ(1.5f, footprint[0].x);
EXPECT_EQ(1.5f, footprint[0].y);
@@ -170,7 +170,7 @@ TEST_F(TestNode, radius_param)
footprint_tester_->testFootprint(0, 10.0);
std::vector<geometry_msgs::msg::Point> footprint = footprint_tester_->getRobotFootprint();
// Circular robot has 16-point footprint auto-generated.
- EXPECT_EQ((unsigned int)16, footprint.size());
+ EXPECT_EQ(16u, footprint.size());
// Check the first point
EXPECT_EQ(10.0f, footprint[0].x);
@@ -187,7 +187,7 @@ TEST_F(TestNode, footprint_from_same_level_param)
{
footprint_tester_->testFootprint(0.0, "[[1, 2], [3, 4], [5, 6]]");
std::vector<geometry_msgs::msg::Point> footprint = footprint_tester_->getRobotFootprint();
- EXPECT_EQ((unsigned int)3, footprint.size());
+ EXPECT_EQ(3u, footprint.size());
EXPECT_EQ(1.0f, footprint[0].x);
EXPECT_EQ(2.0f, footprint[0].y);
diff --git a/nav2_costmap_2d/test/integration/inflation_tests.cpp b/nav2_costmap_2d/test/integration/inflation_tests.cpp
index deb47c27..1338f9b1 100644
--- a/nav2_costmap_2d/test/integration/inflation_tests.cpp
+++ b/nav2_costmap_2d/test/integration/inflation_tests.cpp
@@ -232,7 +232,7 @@ TEST_F(TestNode, testInflationShouldNotCreateUnknowns)
layers.updateMap(0, 0, 0);
nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();
- EXPECT_EQ(countValues(*costmap, nav2_costmap_2d::NO_INFORMATION), (unsigned int)0);
+ EXPECT_EQ(countValues(*costmap, nav2_costmap_2d::NO_INFORMATION), 0u);
}
/**
@@ -357,8 +357,8 @@ TEST_F(TestNode, testInflation)
layers.updateMap(0, 0, 0);
// printMap(*costmap);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), (unsigned int)20);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), (unsigned int)28);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 20u);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 28u);
/*/ Iterate over all id's and verify they are obstacles
for(std::vector<unsigned int>::const_iterator it = occupiedCells.begin(); it != occupiedCells.end(); ++it){
@@ -375,7 +375,7 @@ TEST_F(TestNode, testInflation)
// It and its 2 neighbors makes 3 obstacles
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE) +
- countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), (unsigned int)51);
+ countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 51u);
// @todo Rewrite
// Add an obstacle at <2,0> which will inflate and refresh to of the other inflated cells
@@ -388,7 +388,7 @@ TEST_F(TestNode, testInflation)
// but not over-writing the inflation of the obstacle
// at <0, 1>
ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE) +
- countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), (unsigned int)54);
+ countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 54u);
// Add an obstacle at <1, 9>. This will inflate obstacles around it
addObservation(olayer, 1, 9);
@@ -454,8 +454,8 @@ TEST_F(TestNode, testInflation3)
// There should be no occupied cells
nav2_costmap_2d::Costmap2D * costmap = layers.getCostmap();
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), (unsigned int)0);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), (unsigned int)0);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 0u);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 0u);
printMap(*costmap);
// Add an obstacle at 5,5
addObservation(olayer, 5, 5, MAX_Z);
@@ -463,14 +463,14 @@ TEST_F(TestNode, testInflation3)
printMap(*costmap);
// Test fails because updated cell value is 0
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::FREE_SPACE, false), (unsigned int)29);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), (unsigned int)1);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), (unsigned int)4);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::FREE_SPACE, false), 29u);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 1u);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 4u);
// Update again - should see no change
layers.updateMap(0, 0, 0);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::FREE_SPACE, false), (unsigned int)29);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), (unsigned int)1);
- ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), (unsigned int)4);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::FREE_SPACE, false), 29u);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::LETHAL_OBSTACLE), 1u);
+ ASSERT_EQ(countValues(*costmap, nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE), 4u);
}
diff --git a/nav2_costmap_2d/test/unit/array_parser_test.cpp b/nav2_costmap_2d/test/unit/array_parser_test.cpp
index e872dcc7..3706f0cb 100644
--- a/nav2_costmap_2d/test/unit/array_parser_test.cpp
+++ b/nav2_costmap_2d/test/unit/array_parser_test.cpp
@@ -38,9 +38,9 @@ TEST(array_parser, basic_operation)
std::string error;
std::vector<std::vector<float>> vvf;
vvf = nav2_costmap_2d::parseVVF("[[1, 2.2], [.3, -4e4]]", error);
- EXPECT_EQ((unsigned int)2, vvf.size() );
- EXPECT_EQ((unsigned int)2, vvf[0].size() );
- EXPECT_EQ((unsigned int)2, vvf[1].size() );
+ EXPECT_EQ(2u, vvf.size() );
+ EXPECT_EQ(2u, vvf[0].size() );
+ EXPECT_EQ(2u, vvf[1].size() );
EXPECT_EQ(1.0f, vvf[0][0]);
EXPECT_EQ(2.2f, vvf[0][1]);
EXPECT_EQ(0.3f, vvf[1][0]);
--
GitLab