#include <gtest/gtest.h>#include <tf2/buffer_core.h>#include "transform_storage.h"#include <string>#include <iostream>#include <math.h>#include <stdexcept>#include <climits>#include <stdint.h>#include <cmath>#include "duration.h"#include <sys/time.h>#include <vector>#include <ostream>#include <ros/time.h>#include "serialized_message.h"#include "message_forward.h"#include <boost/utility/enable_if.hpp>#include <boost/type_traits/remove_const.hpp>#include <boost/type_traits/remove_reference.hpp>#include "message_traits.h"#include "ros/exception.h"#include <boost/array.hpp>#include <boost/call_traits.hpp>#include <boost/mpl/and.hpp>#include <boost/mpl/or.hpp>#include <boost/mpl/not.hpp>#include <cstring>#include "ros/builtin_message_traits.h"#include "ros/macros.h"#include <cstdio>#include <sstream>#include <log4cxx/logger.h>#include <boost/static_assert.hpp>#include <cassert>#include <string.h>#include <boost/shared_ptr.hpp>#include "ros/serialization.h"#include "ros/message_operations.h"#include "ros/message.h"#include "btMatrix3x3.h"#include <boost/unordered_map.hpp>#include <boost/thread/mutex.hpp>#include <boost/function.hpp>#include "ros/console.h"#include "ros/assert.h"#include <assert.h>#include <stddef.h>#include <map>#include <set>#include <list>#include <boost/weak_ptr.hpp>#include "exceptions.h"#include "ros/types.h"#include <boost/shared_array.hpp>#include "ros/forwards.h"#include "ros/common.h"#include <boost/bind.hpp>#include <typeinfo>#include <boost/type_traits/is_void.hpp>#include <boost/type_traits/is_base_of.hpp>#include <boost/type_traits/is_const.hpp>#include <boost/type_traits/add_const.hpp>#include <boost/make_shared.hpp>#include <ros/static_assert.h>#include "ros/message_traits.h"#include "ros/message_event.h"#include "forwards.h"#include "timer_options.h"#include "wall_timer_options.h"#include "ros/service_traits.h"#include <boost/lexical_cast.hpp>#include "subscription_callback_helper.h"#include "ros/spinner.h"#include <time.h>#include "ros/publisher.h"#include <boost/utility.hpp>#include "ros/service_server.h"#include "ros/subscriber.h"#include "ros/node_handle.h"#include "ros/init.h"#include "XmlRpcValue.h"#include "node_handle.h"#include "ros/names.h"#include "btScalar.h"#include "btMinMax.h"
Go to the source code of this file.
Classes | |
| struct | TransformableHelper |
Defines | |
| #define | CHECK_QUATERNION_NEAR(_q1, _x, _y, _z, _w, _epsilon) |
| #define | CHECK_TRANSFORMS_NEAR(_out, _expected, _eps) |
Functions | |
| bool | check_1_result (const geometry_msgs::TransformStamped &outpose, const std::string &source_frame, const std::string &target_frame, const ros::Time &eval_time, double epsilon) |
| bool | check_v_result (const geometry_msgs::TransformStamped &outpose, const std::string &source_frame, const std::string &target_frame, const ros::Time &eval_time, double epsilon) |
| bool | check_y_result (const geometry_msgs::TransformStamped &outpose, const std::string &source_frame, const std::string &target_frame, const ros::Time &eval_time, double epsilon) |
| void | generate_rand_vectors (double scale, uint64_t runs, std::vector< double > &xvalues, std::vector< double > &yvalues, std::vector< double > &zvalues) |
| int | main (int argc, char **argv) |
| void | push_back_1 (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy) |
| void | push_back_i (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy) |
| void | push_back_v (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy) |
| void | push_back_y (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy) |
| void | seed_rand () |
| void | setIdentity (geometry_msgs::Transform &trans) |
| void | setupTree (tf2::BufferCore &mBC, const std::string &mode, const ros::Time &time, const ros::Duration &interpolation_space=ros::Duration()) |
| TEST (BufferCore_transformableCallbacks, waitForOldTransform) | |
| TEST (BufferCore_transformableCallbacks, waitForNewTransform) | |
| TEST (BufferCore_transformableCallbacks, alreadyTransformable) | |
| TEST (BufferCore_canTransform, invalid_arguments) | |
| TEST (BufferCore_lookupTransform, invalid_arguments) | |
| TEST (BufferCore_lookupTransform, ring_45_configuration) | |
| TEST (BufferCore_lookupTransform, helix_configuration) | |
| TEST (BufferCore_lookupTransform, compound_xfm_configuration) | |
| TEST (BufferCore_lookupTransform, multi_configuration) | |
| TEST (BufferCore_lookupTransform, y_configuration) | |
| TEST (BufferCore_lookupTransform, v_configuration) | |
| TEST (BufferCore_lookupTransform, one_link_configuration) | |
| TEST (BufferCore_lookupTransform, i_configuration) | |
| TEST (BufferCore_setTransform, NoInsertWithNoParentID) | |
| TEST (BufferCore_setTransform, NoInsertWithNoFrameID) | |
| TEST (BufferCore_setTransform, NoInsertWithNan) | |
| TEST (BufferCore_setTransform, NoInsertOnSelfTransform) | |
| #define CHECK_QUATERNION_NEAR | ( | _q1, | |||
| _x, | |||||
| _y, | |||||
| _z, | |||||
| _w, | |||||
| _epsilon | ) |
{ \
btQuaternion q1(_q1.x, _q1.y, _q1.z, _q1.w); \
btQuaternion q2(_x, _y, _z, _w); \
double angle = q1.angle(q2); \
EXPECT_TRUE(fabs(angle) < _epsilon || fabs(angle - M_PI) < _epsilon); \
}
Definition at line 1161 of file buffer_core_test.cpp.
| #define CHECK_TRANSFORMS_NEAR | ( | _out, | |||
| _expected, | |||||
| _eps | ) |
EXPECT_NEAR(_out.transform.translation.x, _expected.getOrigin().x(), epsilon); \
EXPECT_NEAR(_out.transform.translation.y, _expected.getOrigin().y(), epsilon); \
EXPECT_NEAR(_out.transform.translation.z, _expected.getOrigin().z(), epsilon); \
CHECK_QUATERNION_NEAR(_out.transform.rotation, _expected.getRotation().x(), _expected.getRotation().y(), _expected.getRotation().z(), _expected.getRotation().w(), _eps);
Definition at line 1169 of file buffer_core_test.cpp.
| bool check_1_result | ( | const geometry_msgs::TransformStamped & | outpose, | |
| const std::string & | source_frame, | |||
| const std::string & | target_frame, | |||
| const ros::Time & | eval_time, | |||
| double | epsilon | |||
| ) |
Definition at line 704 of file buffer_core_test.cpp.
| bool check_v_result | ( | const geometry_msgs::TransformStamped & | outpose, | |
| const std::string & | source_frame, | |||
| const std::string & | target_frame, | |||
| const ros::Time & | eval_time, | |||
| double | epsilon | |||
| ) |
Definition at line 739 of file buffer_core_test.cpp.
| bool check_y_result | ( | const geometry_msgs::TransformStamped & | outpose, | |
| const std::string & | source_frame, | |||
| const std::string & | target_frame, | |||
| const ros::Time & | eval_time, | |||
| double | epsilon | |||
| ) |
Definition at line 849 of file buffer_core_test.cpp.
| void generate_rand_vectors | ( | double | scale, | |
| uint64_t | runs, | |||
| std::vector< double > & | xvalues, | |||
| std::vector< double > & | yvalues, | |||
| std::vector< double > & | zvalues | |||
| ) |
Definition at line 46 of file buffer_core_test.cpp.
| int main | ( | int | argc, | |
| char ** | argv | |||
| ) |
Definition at line 2811 of file buffer_core_test.cpp.
| void push_back_1 | ( | std::vector< std::string > & | children, | |
| std::vector< std::string > & | parents, | |||
| std::vector< double > & | dx, | |||
| std::vector< double > & | dy | |||
| ) |
Definition at line 157 of file buffer_core_test.cpp.
| void push_back_i | ( | std::vector< std::string > & | children, | |
| std::vector< std::string > & | parents, | |||
| std::vector< double > & | dx, | |||
| std::vector< double > & | dy | |||
| ) |
Definition at line 70 of file buffer_core_test.cpp.
| void push_back_v | ( | std::vector< std::string > & | children, | |
| std::vector< std::string > & | parents, | |||
| std::vector< double > & | dx, | |||
| std::vector< double > & | dy | |||
| ) |
Definition at line 124 of file buffer_core_test.cpp.
| void push_back_y | ( | std::vector< std::string > & | children, | |
| std::vector< std::string > & | parents, | |||
| std::vector< double > & | dx, | |||
| std::vector< double > & | dy | |||
| ) |
Definition at line 92 of file buffer_core_test.cpp.
| void seed_rand | ( | ) |
Definition at line 38 of file buffer_core_test.cpp.
| void setIdentity | ( | geometry_msgs::Transform & | trans | ) |
Definition at line 58 of file buffer_core_test.cpp.
| void setupTree | ( | tf2::BufferCore & | mBC, | |
| const std::string & | mode, | |||
| const ros::Time & | time, | |||
| const ros::Duration & | interpolation_space = ros::Duration() | |||
| ) |
Standard
Definition at line 166 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_transformableCallbacks | , | |
| waitForOldTransform | ||||
| ) |
Definition at line 1830 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_transformableCallbacks | , | |
| waitForNewTransform | ||||
| ) |
Definition at line 1803 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_transformableCallbacks | , | |
| alreadyTransformable | ||||
| ) |
Definition at line 1787 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_canTransform | , | |
| invalid_arguments | ||||
| ) |
Definition at line 1753 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| invalid_arguments | ||||
| ) |
Definition at line 1735 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| ring_45_configuration | ||||
| ) |
Definition at line 1427 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| helix_configuration | ||||
| ) |
Definition at line 1317 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| compound_xfm_configuration | ||||
| ) |
Definition at line 1177 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| multi_configuration | ||||
| ) |
Definition at line 1096 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| y_configuration | ||||
| ) |
Definition at line 1050 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| v_configuration | ||||
| ) |
Definition at line 1003 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| one_link_configuration | ||||
| ) |
Definition at line 959 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_lookupTransform | , | |
| i_configuration | ||||
| ) |
Definition at line 621 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_setTransform | , | |
| NoInsertWithNoParentID | ||||
| ) |
Definition at line 330 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_setTransform | , | |
| NoInsertWithNoFrameID | ||||
| ) |
Definition at line 316 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_setTransform | , | |
| NoInsertWithNan | ||||
| ) |
Definition at line 301 of file buffer_core_test.cpp.
| TEST | ( | BufferCore_setTransform | , | |
| NoInsertOnSelfTransform | ||||
| ) |
Definition at line 290 of file buffer_core_test.cpp.