Move Catch enum-to-string converters to tests (#446)

SleipnirGroup · Mar 16, 2024 · ce6976e · ce6976e
1 parent 403dc4a
commit ce6976e
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Showing 22 changed files with 97 additions and 105 deletions.
diff --git a/include/sleipnir/autodiff/ExpressionType.hpp b/include/sleipnir/autodiff/ExpressionType.hpp
@@ -2,10 +2,6 @@
 
 #pragma once
 
-#include <iosfwd>
-
-#include "sleipnir/util/SymbolExports.hpp"
-
 namespace sleipnir {
 
 /**
@@ -26,13 +22,4 @@ enum class ExpressionType {
   kNonlinear
 };
 
-/**
- * Catch2 value formatter for ExpressionType.
- *
- * @param os Output stream to which to print.
- * @param type ExpressionType to print.
- */
-SLEIPNIR_DLLEXPORT std::ostream& operator<<(std::ostream& os,
-                                            const ExpressionType& type);
-
 }  // namespace sleipnir
diff --git a/include/sleipnir/optimization/SolverExitCondition.hpp b/include/sleipnir/optimization/SolverExitCondition.hpp
@@ -2,7 +2,6 @@
 
 #pragma once
 
-#include <iosfwd>
 #include <string_view>
 
 #include "sleipnir/util/SymbolExports.hpp"
@@ -76,13 +75,4 @@ SLEIPNIR_DLLEXPORT constexpr std::string_view ToMessage(
   }
 }
 
-/**
- * Catch2 value formatter for SolverExitCondition.
- *
- * @param os Output stream to which to print.
- * @param exitCondition Solver exit condition to print.
- */
-SLEIPNIR_DLLEXPORT std::ostream& operator<<(
-    std::ostream& os, const SolverExitCondition& exitCondition);
-
 }  // namespace sleipnir
diff --git a/src/autodiff/ExpressionType.cpp b/src/autodiff/ExpressionType.cpp
diff --git a/src/optimization/SolverExitCondition.cpp b/src/optimization/SolverExitCondition.cpp
diff --git a/test/include/CatchStringConverters.hpp b/test/include/CatchStringConverters.hpp
@@ -0,0 +1,68 @@
+// Copyright (c) Sleipnir contributors
+
+#pragma once
+
+#include <string>
+
+#include <catch2/catch_tostring.hpp>
+#include <sleipnir/autodiff/ExpressionType.hpp>
+#include <sleipnir/optimization/SolverExitCondition.hpp>
+
+namespace Catch {
+
+template <>
+struct StringMaker<sleipnir::ExpressionType> {
+  static std::string convert(const sleipnir::ExpressionType& type) {
+    using enum sleipnir::ExpressionType;
+
+    switch (type) {
+      case kNone:
+        return "kNone";
+      case kConstant:
+        return "kConstant";
+      case kLinear:
+        return "kLinear";
+      case kQuadratic:
+        return "kQuadratic";
+      case kNonlinear:
+        return "kNonlinear";
+    }
+
+    return "";
+  }
+};
+
+template <>
+struct StringMaker<sleipnir::SolverExitCondition> {
+  static std::string convert(
+      const sleipnir::SolverExitCondition& exitCondition) {
+    using enum sleipnir::SolverExitCondition;
+
+    switch (exitCondition) {
+      case kSuccess:
+        return "kSuccess";
+      case kSolvedToAcceptableTolerance:
+        return "kSolvedToAcceptableTolerance";
+      case kCallbackRequestedStop:
+        return "kCallbackRequestedStop";
+      case kTooFewDOFs:
+        return "kTooFewDOFs";
+      case kLocallyInfeasible:
+        return "kLocallyInfeasible";
+      case kFeasibilityRestorationFailed:
+        return "kFeasibilityRestorationFailed";
+      case kNonfiniteInitialCostOrConstraints:
+        return "kNonfiniteInitialCostOrConstraints";
+      case kDivergingIterates:
+        return "kDivergingIterates";
+      case kMaxIterationsExceeded:
+        return "kMaxIterationsExceeded";
+      case kMaxWallClockTimeExceeded:
+        return "kMaxWallClockTimeExceeded";
+    }
+
+    return "";
+  }
+};
+
+}  // namespace Catch
diff --git a/test/src/autodiff/ExpressionTest.cpp b/test/src/autodiff/ExpressionTest.cpp
@@ -5,6 +5,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/autodiff/Expression.hpp>
 
+#include "CatchStringConverters.hpp"
+
 using sleipnir::detail::MakeExpressionPtr;
 
 TEST_CASE("Expression - Default constructor", "[Expression]") {

diff --git a/test/src/autodiff/VariableTest.cpp b/test/src/autodiff/VariableTest.cpp
@@ -3,6 +3,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/autodiff/Variable.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("Variable - Default constructor", "[Variable]") {
   sleipnir::Variable a;
 

diff --git a/test/src/control/OCPSolverTest_CartPole.cpp b/test/src/control/OCPSolverTest_CartPole.cpp
@@ -12,6 +12,7 @@
 #include <sleipnir/control/OCPSolver.hpp>
 
 #include "CartPoleUtil.hpp"
+#include "CatchStringConverters.hpp"
 #include "RK4.hpp"
 
 TEST_CASE("OCPSolver - Cart-pole", "[OCPSolver]") {

diff --git a/test/src/control/OCPSolverTest_DifferentialDrive.cpp b/test/src/control/OCPSolverTest_DifferentialDrive.cpp
@@ -9,6 +9,7 @@
 #include <fmt/core.h>
 #include <sleipnir/control/OCPSolver.hpp>
 
+#include "CatchStringConverters.hpp"
 #include "DifferentialDriveUtil.hpp"
 #include "RK4.hpp"
 

diff --git a/test/src/control/OCPSolverTest_Flywheel.cpp b/test/src/control/OCPSolverTest_Flywheel.cpp
@@ -11,6 +11,8 @@
 #include <sleipnir/control/OCPSolver.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 using namespace std::chrono_literals;
 
 namespace {

diff --git a/test/src/optimization/ConstraintsTest.cpp b/test/src/optimization/ConstraintsTest.cpp
@@ -8,6 +8,8 @@
 #include <sleipnir/autodiff/VariableMatrix.hpp>
 #include <sleipnir/optimization/Constraints.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("Constraints - Equality constraint boolean comparison",
           "[Constraints]") {
   using sleipnir::Variable;

diff --git a/test/src/optimization/DecisionVariableTest.cpp b/test/src/optimization/DecisionVariableTest.cpp
@@ -4,6 +4,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("DecisionVariable - Scalar init assign", "[DecisionVariable]") {
   sleipnir::OptimizationProblem problem;
 

diff --git a/test/src/optimization/LinearProblemTest.cpp b/test/src/optimization/LinearProblemTest.cpp
@@ -4,6 +4,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("LinearProblem - Maximize", "[LinearProblem]") {
   sleipnir::OptimizationProblem problem;
 

diff --git a/test/src/optimization/NonlinearProblemTest.cpp b/test/src/optimization/NonlinearProblemTest.cpp
@@ -7,6 +7,7 @@
 #include <fmt/core.h>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
 #include "Range.hpp"
 
 TEST_CASE("NonlinearProblem - Quartic", "[NonlinearProblem]") {

diff --git a/test/src/optimization/OptimizationProblemTest_ArmOnElevator.cpp b/test/src/optimization/OptimizationProblemTest_ArmOnElevator.cpp
@@ -6,6 +6,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 // This problem tests the case where regularization fails
 TEST_CASE("OptimizationProblem - Arm on elevator", "[OptimizationProblem]") {
   using namespace std::chrono_literals;

diff --git a/test/src/optimization/OptimizationProblemTest_CartPole.cpp b/test/src/optimization/OptimizationProblemTest_CartPole.cpp
@@ -12,6 +12,7 @@
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
 #include "CartPoleUtil.hpp"
+#include "CatchStringConverters.hpp"
 #include "RK4.hpp"
 
 TEST_CASE("OptimizationProblem - Cart-pole", "[OptimizationProblem]") {

diff --git a/test/src/optimization/OptimizationProblemTest_DifferentialDrive.cpp b/test/src/optimization/OptimizationProblemTest_DifferentialDrive.cpp
@@ -11,6 +11,7 @@
 #include <fmt/core.h>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
 #include "DifferentialDriveUtil.hpp"
 #include "RK4.hpp"
 

diff --git a/test/src/optimization/OptimizationProblemTest_DoubleIntegrator.cpp b/test/src/optimization/OptimizationProblemTest_DoubleIntegrator.cpp
@@ -10,6 +10,8 @@
 #include <fmt/core.h>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("OptimizationProblem - Double integrator", "[OptimizationProblem]") {
   using namespace std::chrono_literals;
 

diff --git a/test/src/optimization/OptimizationProblemTest_Flywheel.cpp b/test/src/optimization/OptimizationProblemTest_Flywheel.cpp
@@ -10,6 +10,8 @@
 #include <fmt/core.h>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 namespace {
 bool Near(double expected, double actual, double tolerance) {
   return std::abs(expected - actual) < tolerance;

diff --git a/test/src/optimization/QuadraticProblemTest.cpp b/test/src/optimization/QuadraticProblemTest.cpp
@@ -4,6 +4,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("QuadraticProblem - Unconstrained 1D", "[QuadraticProblem]") {
   sleipnir::OptimizationProblem problem;
 

diff --git a/test/src/optimization/SolverExitConditionTest.cpp b/test/src/optimization/SolverExitConditionTest.cpp
@@ -3,6 +3,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 // These tests ensure coverage of the off-nominal solver exit conditions
 
 TEST_CASE("SolverExitCondition - Callback requested stop",

diff --git a/test/src/optimization/TrivialProblemTest.cpp b/test/src/optimization/TrivialProblemTest.cpp
@@ -3,6 +3,8 @@
 #include <catch2/catch_test_macros.hpp>
 #include <sleipnir/optimization/OptimizationProblem.hpp>
 
+#include "CatchStringConverters.hpp"
+
 TEST_CASE("TrivialProblem - Empty", "[TrivialProblem]") {
   sleipnir::OptimizationProblem problem;