/*
 * Software License Agreement (BSD License)
 *
 *  Point Cloud Library (PCL) - www.pointclouds.org
 *  Copyright (c) 2010-2012, Willow Garage, Inc.
 *
 *  All rights reserved.
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 *     with the distribution.
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 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
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 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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 * $Id$
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 */

#include <gtest/gtest.h>
#include <pcl/common/geometry.h>
#include <pcl/point_types.h>

using namespace pcl;

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////
template <typename T> class XYZPointTypesTest : public ::testing::Test { };
typedef ::testing::Types<BOOST_PP_SEQ_ENUM(PCL_XYZ_POINT_TYPES)> XYZPointTypes;
TYPED_TEST_CASE(XYZPointTypesTest, XYZPointTypes);

TYPED_TEST(XYZPointTypesTest, Distance)
{
  TypeParam p1, p2;
  p1.x = 3; p1.y = 4; p1.z = 5;
  p2.y = 1; p2.x = 1; p2.z = 1.5;
  double distance = geometry::distance (p1, p2);
  EXPECT_NEAR (distance, 5.024938, 1e-4);
}

TYPED_TEST(XYZPointTypesTest, SquaredDistance)
{
  TypeParam p1, p2;
  p1.x = 3; p1.y = 4; p1.z = 5;
  p2.y = 1; p2.x = 1; p2.z = 1.5;
  double distance = geometry::squaredDistance (p1, p2);
  EXPECT_NEAR (distance, 25.25, 1e-4);
}

/* ---[ */
int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  return (RUN_ALL_TESTS ());
}
/* ]--- */
