Add test for appendGTE and friends.

moveit · Aug 3, 2024 · 55da726 · 55da726
1 parent d56050d
commit 55da726
Showing 1 changed file with 36 additions and 0 deletions.
diff --git a/test/DatabaseConnection.cpp b/test/DatabaseConnection.cpp
@@ -30,6 +30,7 @@
 
 #include <gtest/gtest.h>
 
+#include <geometry_msgs/msg/point.hpp>
 #include <geometry_msgs/msg/pose.hpp>
 #include <geometry_msgs/msg/vector3.hpp>
 #include <warehouse_ros_sqlite/database_connection.hpp>
@@ -403,6 +404,41 @@ TEST_F(ConnectionTest, Sorting)
   }
 }
 
+TEST_F(ConnectionTest, appendGTE)
+{
+  auto coll = conn_->openCollection<geometry_msgs::msg::Point>("test_db", "test_collection");
+
+  auto metadata = coll.createMetadata();
+  metadata->append("test_metadata", 5.0);
+
+  geometry_msgs::msg::Point msg = {};
+  coll.insert(msg, metadata);
+
+  {
+    auto query = coll.createQuery();
+    query->appendGTE("unrelated", 4.0);
+    EXPECT_TRUE(coll.queryList(query).empty());
+  }
+
+  {
+    auto query = coll.createQuery();
+    query->appendGT("unrelated", 4.0);
+    EXPECT_TRUE(coll.queryList(query).empty());
+  }
+
+  {
+    auto query = coll.createQuery();
+    query->appendLTE("unrelated", 6.0);
+    EXPECT_TRUE(coll.queryList(query).empty());
+  }
+
+  {
+    auto query = coll.createQuery();
+    query->appendLT("unrelated", 6.0);
+    EXPECT_TRUE(coll.queryList(query).empty());
+  }
+}
+
 TEST(Utils, Md5Validation)
 {
   const char * a = "4a842b65f413084dc2b10fb484ea7f17";