static_cache_test.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <gtest/gtest.h>
#include <tf2/time_cache.h>
#include <sys/time.h>
#include "LinearMath/btVector3.h"
#include "LinearMath/btMatrix3x3.h"
#include <stdexcept>

#include <geometry_msgs/TransformStamped.h>

#include <cmath>

using namespace tf2;


void setIdentity(TransformStorage& stor)
{
  stor.translation_.setValue(0.0, 0.0, 0.0);
  stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
}

TEST(StaticCache, Repeatability)
{
  unsigned int runs = 100;
  
  tf2::StaticCache  cache;

  TransformStorage stor;
  setIdentity(stor);
  
  for ( uint64_t i = 1; i < runs ; i++ )
  {
    stor.frame_id_ = CompactFrameID(i);
    stor.stamp_ = ros::Time().fromNSec(i);
    
    cache.insertData(stor);

    
    cache.getData(ros::Time().fromNSec(i), stor);
    EXPECT_EQ(stor.frame_id_, i);
    EXPECT_EQ(stor.stamp_, ros::Time().fromNSec(i));
    
  }
}

TEST(StaticCache, DuplicateEntries)
{

  tf2::StaticCache cache;

  TransformStorage stor;
  setIdentity(stor);
  stor.frame_id_ = CompactFrameID(3);
  stor.stamp_ = ros::Time().fromNSec(1);

  cache.insertData(stor);

  cache.insertData(stor);


  cache.getData(ros::Time().fromNSec(1), stor);
  
  //printf(" stor is %f\n", stor.transform.translation.x);
  EXPECT_TRUE(!std::isnan(stor.translation_.x()));
  EXPECT_TRUE(!std::isnan(stor.translation_.y()));
  EXPECT_TRUE(!std::isnan(stor.translation_.z()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.x()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.y()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.z()));
  EXPECT_TRUE(!std::isnan(stor.rotation_.w()));
}

int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}