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#include <gtest/gtest.h>

#include <iostream>  

#include <sensor_msgs/PointCloud2.h>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>

typedef pcl::PointXYZ Point;
typedef pcl::PointCloud<Point> PointCloud;

PointCloud cloud;

void 
init () 
{
  for (int x=-20; x<20; x++) 
    for (int y=-20; y<20; y++) 
      for (int z=-20; z<20; z++) 
        cloud.push_back (Point (static_cast<float> (x), static_cast<float> (y), static_cast<float> (z)));
}

//////////////////////////////////////////////////////////////////////////////////////////////////////////////////

TEST (PCL, Iterators) 
{
  Point mean (0,0,0);

  for (PointCloud::iterator it = cloud.begin(); it != cloud.end(); ++it) 
  {
    for (int i=0;i<3;i++) mean.data[i] += it->data[i];
  }
  for (int i=0;i<3;i++) mean.data[i] /= static_cast<float> (cloud.size ());

  EXPECT_NEAR (mean.x, -0.5, 1e-4);
}


/* ---[ */
int
main (int argc, char** argv)
{
  testing::InitGoogleTest (&argc, argv);
  init();
  return (RUN_ALL_TESTS ());
}
/* ]--- */
