Merge 44e8d87 into c754e21

gazebosim · Oct 26, 2022 · a3e3c05 · a3e3c05
2 parents c754e21 + 44e8d87
commit a3e3c05
Showing 1 changed file with 28 additions and 0 deletions.
diff --git a/src/Noise_TEST.cc b/src/Noise_TEST.cc
@@ -22,6 +22,9 @@
 #include <ignition/common/Console.hh>
 #include <ignition/math/Rand.hh>
 
+#include <sdf/Noise.hh>
+
+
 #include "ignition/sensors/Noise.hh"
 #include "ignition/sensors/GaussianNoiseModel.hh"
 
@@ -414,6 +417,31 @@ TEST(NoiseTest, OnApplyNoise)
   }
 }
 
+/////////////////////////////////////////////////
+TEST(NoiseTest, NoiseFailures)
+{
+  sensors::Noise noise(sensors::NoiseType::CUSTOM);
+
+  EXPECT_DOUBLE_EQ(9, noise.Apply(9, 0.1));
+  EXPECT_DOUBLE_EQ(9, noise.ApplyImpl(9, 0.1));
+  std::ostringstream out;
+  noise.Print(out);
+  EXPECT_EQ("Noise with type[1] does not have an overloaded Print function. "
+   "No more information is available.", out.str());
+
+  sensors::Noise noiseGaussian(sensors::NoiseType::GAUSSIAN);
+
+  sensors::NoisePtr noiseFactory =
+     sensors::NoiseFactory::NewNoiseModel(
+     NoiseSdf("gaussian", 0, 0, 0, 0, 0), "camera");
+
+  sdf::Noise sdfNoise;
+  sdfNoise.SetType(static_cast<sdf::NoiseType>(99));
+  sensors::NoisePtr noiseFactory2 =
+     sensors::NoiseFactory::NewNoiseModel(
+     sdfNoise, "camera");
+}
+
 /////////////////////////////////////////////////
 int main(int argc, char **argv)
 {