diff --git a/.jshintrc b/.jshintrc
index dfd08b60..f12c6705 100644
--- a/.jshintrc
+++ b/.jshintrc
@@ -25,6 +25,6 @@
"trailing": true,
"quotmark": "single",
"proto": true,
- "laxbreak": true
+ "laxbreak": true,
+ "mocha": true
}
-
diff --git a/Gruntfile.js b/Gruntfile.js
index 0ed1ee85..d4ae0cc3 100644
--- a/Gruntfile.js
+++ b/Gruntfile.js
@@ -14,7 +14,8 @@ module.exports = function(grunt) {
},
files: [
'Gruntfile.js',
- './build/ros3d.js'
+ './build/ros3d.js',
+ './tests/*.js'
]
},
karma: {
diff --git a/README.md b/README.md
index 2592cf24..a6465554 100644
--- a/README.md
+++ b/README.md
@@ -2,7 +2,7 @@ ros3djs [](h
=======
#### 3D Visualization Library for use with the ROS JavaScript Libraries
-For full documentation, see [the ROS wiki](http://ros.org/wiki/ros3djs) or check out some [working demos](http://robotwebtools.org/).
+For full documentation, see [the ROS wiki](http://ros.org/wiki/ros3djs) or check out some [working demos](http://robotwebtools.org/demos.html).
[JSDoc](http://robotwebtools.org/jsdoc/ros3djs/current/) can be found on the Robot Web Tools website.
@@ -89,6 +89,11 @@ To run the build tasks:
`grunt doc` will rebuild all JSDoc for the project.
+### Testing
+Utilizes [mocha](https://mochajs.org/) and [chai](http://chaijs.com/) for in browser testing.
+
+To run tests simply open `tests/index.html` in a web browser
+
### License
ros3djs is released with a BSD license. For full terms and conditions, see the [LICENSE](LICENSE) file.
diff --git a/package.json b/package.json
index 6d7fafe7..fa5f8a75 100644
--- a/package.json
+++ b/package.json
@@ -6,14 +6,16 @@
"license": "BSD-3-Clause",
"main": "./src/Ros3D.js",
"devDependencies": {
+ "chai": "^3.5.0",
"grunt": "~1.0.1",
+ "grunt-contrib-clean": "~1.0.0",
"grunt-contrib-concat": "~1.0.1",
"grunt-contrib-jshint": "~1.1.0",
- "grunt-karma": "~2.0.0",
- "grunt-contrib-watch": "~1.0.0",
"grunt-contrib-uglify": "~2.0.0",
+ "grunt-contrib-watch": "~1.0.0",
"grunt-jsdoc": "~2.1.0",
- "grunt-contrib-clean": "~1.0.0"
+ "grunt-karma": "~2.0.0",
+ "mocha": "^3.2.0"
},
"repository": {
"type": "git",
diff --git a/tests/index.html b/tests/index.html
new file mode 100644
index 00000000..e5ce7db7
--- /dev/null
+++ b/tests/index.html
@@ -0,0 +1,25 @@
+
+
+
+
+ Tests
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/tests/tests.js b/tests/tests.js
new file mode 100644
index 00000000..1fa5d271
--- /dev/null
+++ b/tests/tests.js
@@ -0,0 +1,67 @@
+/*global describe, it, before, beforeEach, after, afterEach, chai, ROS3D, _ */
+
+var assert = chai.assert;
+
+describe('Initialization', function() {
+
+
+ describe('Arrow', function() {
+ var arrow = new ROS3D.Arrow();
+
+ it('matrix should be equal to the proper Matrix4', function() {
+ var a = new THREE.Vector3(0, 1, 0);
+ arrow.setDirection(a);
+ var b = new THREE.Matrix4();
+ b.set(1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 1);
+ assert.isTrue(_.isEqual(arrow.matrix.toArray(), b.toArray()));
+ });
+
+ it('scale should be equal to THREE.Vector3(2, 2, 2)', function() {
+ arrow.setLength(2);
+ assert.isTrue(arrow.scale.equals(new THREE.Vector3(2, 2, 2)));
+ });
+
+ it('material.color should be equal to THREE.Color(0xfff000)', function() {
+ arrow.setColor(0xfff000);
+ assert.equal(arrow.material.color.getHex(), new THREE.Color(0xfff000).getHex());
+ });
+
+ });
+
+ describe('depthCloud', function() {
+ // Setup Kinect DepthCloud stream
+ var depthCloud = new ROS3D.DepthCloud({
+ url : 'http://'+window.location.hostname+':9999/stream?topic=/depthcloud_encoded&type=vp8&bitrate=250000&quality=best',
+ f : 525.0
+ });
+
+ it('should return 525.0 for value of f', function() {
+ assert.equal(525.0, depthCloud.f);
+ });
+ });
+
+ describe('Grid', function() {
+ var grid = new ROS3D.Grid();
+
+ it('should default to 22 children', function() {
+ assert.equal(grid.children.length, 22);
+ });
+
+ it('each child\'s color is THREE.Color(\'#cccccc\') by default', function() {
+ var sample = new THREE.Color('#cccccc').getHex();
+ function correctColor(element, index, array) {
+ return element.material.color.getHex() === sample;
+ }
+ assert.isTrue(grid.children.every(correctColor));
+ });
+
+ it('each child\'s linewidth is 1 by default', function() {
+ function isOne(element, index, array) {
+ return element.material.linewidth === 1;
+ }
+ assert.isTrue(grid.children.every(isOne));
+ });
+
+ });
+
+});