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description Robotics Toolbox testing (float-only): TEST_F on float, StrictMock only, anonymous-namespace fixtures, no plain TEST(), no redundant cases, Arrange-Act-Assert. Canonical: AGENTS.md.
applyTo **/test/**

Robotics Toolbox Testing Guidelines

File Structure

  • Test files: robotics/{domain}/test/Test{ComponentName}.cpp
  • CMake: tests added via add_subdirectory(test) with standard test target patterns

Framework

  • GoogleTest for assertions — TEST_F on float (no TYPED_TEST, no multi-type)
  • GoogleMock (testing::StrictMock<>) only when needed
  • No heap allocation in tests — same rules as production code
  • NEVER use plain TEST() macro — cppcheck reports syntaxError

Fixture Test Pattern (float)

#include "numerical/solvers/DiscreteAlgebraicRiccatiEquation.hpp"
#include <gtest/gtest.h>

namespace
{
    class TestDare : public ::testing::Test
    {
    protected:
        solvers::DiscreteAlgebraicRiccatiEquation<float, 2, 1> solver;
    };
}

TEST_F(TestDare, solves_simple_system)
{
    // Arrange, Act, Assert
}

Rules

  • Fixture class and type aliases go inside anonymous namespace {}
  • TEST_F macros go outside the anonymous namespace
  • Include <gtest/gtest.h> (not <gmock/gmock.h>) unless gmock matchers are needed
  • Use testing::StrictMock<MockType> for strict mock expectations
  • ONLY StrictMock: Never use testing::NiceMock<> or bare mock instantiation — NiceMock silences unexpected-call warnings, masking test gaps; StrictMock enforces all interactions explicitly
  • Test float only (single type) — no multi-type tests
  • No redundant tests — implement exactly the spec's enumerated cases; no overlapping/extra cases
  • Test numerical accuracy against known reference values (not just "doesn't crash")
  • Pick the properties to assert from TESTING.md — the per-family metric reference (accuracy, frequency/transient response, stability, boundaries, convergence, statistical consistency, conditioning)
  • Test genuine edge cases (zero input, extreme values) without duplicating coverage
  • One behavior per test — keep tests focused
  • Use descriptive test names that explain the scenario
  • Allman brace style and PascalCase naming apply to test code too

TDD Approach

  • Clarify requirements first: Before writing any code, define and document all use cases, inputs, outputs, and edge cases as test cases
  • Write tests before implementation: Tests define the expected behavior; implementation exists only to satisfy the tests
  • Red-Green-Refactor cycle: Write a failing test, make it pass with minimal code, then refactor while keeping tests green

Coverage for Template Code

When EMIL_ENABLE_COVERAGE is set, template code needs explicit instantiation in a .cpp file that is compiled with coverage flags. Add to the header (guarded):

#ifdef ROBOTICS_TOOLBOX_COVERAGE_BUILD
extern template class ForwardKinematics<float, 3>;
#endif

And in the matching .cpp file:

#include "robotics/kinematics/ForwardKinematics.hpp"

namespace kinematics
{
    template class ForwardKinematics<float, 3>;
}