buffer_core_test.cpp File Reference

#include <cmath>
#include <gtest/gtest.h>
#include <tf2/buffer_core.h>
#include "tf2/exceptions.h"
#include <ros/ros.h>
#include "LinearMath/btVector3.h"
#include "LinearMath/btTransform.h"
#include "rostest/permuter.h"

Include dependency graph for buffer_core_test.cpp:

Go to the source code of this file.

Classes
struct	TransformableHelper

Macros
#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)
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	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_canTransform, invalid_arguments)
	TEST (BufferCore_lookupTransform, compound_xfm_configuration)
	TEST (BufferCore_lookupTransform, helix_configuration)
	TEST (BufferCore_lookupTransform, i_configuration)
	TEST (BufferCore_lookupTransform, invalid_arguments)
	TEST (BufferCore_lookupTransform, multi_configuration)
	TEST (BufferCore_lookupTransform, one_link_configuration)
	TEST (BufferCore_lookupTransform, ring_45_configuration)
	TEST (BufferCore_lookupTransform, v_configuration)
	TEST (BufferCore_lookupTransform, y_configuration)
	TEST (BufferCore_setTransform, NoInsertOnSelfTransform)
	TEST (BufferCore_setTransform, NoInsertWithNan)
	TEST (BufferCore_setTransform, NoInsertWithNoFrameID)
	TEST (BufferCore_setTransform, NoInsertWithNoParentID)
	TEST (BufferCore_transformableCallbacks, alreadyTransformable)
	TEST (BufferCore_transformableCallbacks, waitForNewTransform)
	TEST (BufferCore_transformableCallbacks, waitForOldTransform)

Macro Definition Documentation

CHECK_QUATERNION_NEAR

#define CHECK_QUATERNION_NEAR	(		_q1,
			_x,
			_y,
			_z,
			_w,
			_epsilon
	)

Value:

           {                                                                                                             \
           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 1143 of file buffer_core_test.cpp.

CHECK_TRANSFORMS_NEAR

#define CHECK_TRANSFORMS_NEAR	(		_out,
			_expected,
			_eps
	)

Value:

        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 1151 of file buffer_core_test.cpp.

Function Documentation

check_1_result()

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 686 of file buffer_core_test.cpp.

check_v_result()

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 721 of file buffer_core_test.cpp.

check_y_result()

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 831 of file buffer_core_test.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 2793 of file buffer_core_test.cpp.

push_back_1()

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 138 of file buffer_core_test.cpp.

push_back_i()

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 51 of file buffer_core_test.cpp.

push_back_v()

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 105 of file buffer_core_test.cpp.

push_back_y()

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 73 of file buffer_core_test.cpp.

setIdentity()

void setIdentity

(

geometry_msgs::Transform &

trans

)

Definition at line 39 of file buffer_core_test.cpp.

setupTree()

void setupTree	(	tf2::BufferCore &	mBC,
		const std::string &	mode,
		const ros::Time &	time,
		const ros::Duration &	interpolation_space = ros::Duration()
	)

Standard

Definition at line 147 of file buffer_core_test.cpp.

TEST() [1/17]

TEST	(	BufferCore_canTransform	,
		invalid_arguments
	)

Definition at line 1735 of file buffer_core_test.cpp.

TEST() [2/17]

TEST	(	BufferCore_lookupTransform	,
		compound_xfm_configuration
	)

Definition at line 1159 of file buffer_core_test.cpp.

TEST() [3/17]

TEST	(	BufferCore_lookupTransform	,
		helix_configuration
	)

Definition at line 1299 of file buffer_core_test.cpp.

TEST() [4/17]

TEST	(	BufferCore_lookupTransform	,
		i_configuration
	)

Definition at line 603 of file buffer_core_test.cpp.

TEST() [5/17]

TEST	(	BufferCore_lookupTransform	,
		invalid_arguments
	)

Definition at line 1717 of file buffer_core_test.cpp.

TEST() [6/17]

TEST	(	BufferCore_lookupTransform	,
		multi_configuration
	)

Definition at line 1078 of file buffer_core_test.cpp.

TEST() [7/17]

TEST	(	BufferCore_lookupTransform	,
		one_link_configuration
	)

Definition at line 941 of file buffer_core_test.cpp.

TEST() [8/17]

TEST	(	BufferCore_lookupTransform	,
		ring_45_configuration
	)

Definition at line 1409 of file buffer_core_test.cpp.

TEST() [9/17]

TEST	(	BufferCore_lookupTransform	,
		v_configuration
	)

Definition at line 985 of file buffer_core_test.cpp.

TEST() [10/17]

TEST	(	BufferCore_lookupTransform	,
		y_configuration
	)

Definition at line 1032 of file buffer_core_test.cpp.

TEST() [11/17]

TEST	(	BufferCore_setTransform	,
		NoInsertOnSelfTransform
	)

Definition at line 272 of file buffer_core_test.cpp.

TEST() [12/17]

TEST	(	BufferCore_setTransform	,
		NoInsertWithNan
	)

Definition at line 283 of file buffer_core_test.cpp.

TEST() [13/17]

TEST	(	BufferCore_setTransform	,
		NoInsertWithNoFrameID
	)

Definition at line 298 of file buffer_core_test.cpp.

TEST() [14/17]

TEST	(	BufferCore_setTransform	,
		NoInsertWithNoParentID
	)

Definition at line 312 of file buffer_core_test.cpp.

TEST() [15/17]

TEST	(	BufferCore_transformableCallbacks	,
		alreadyTransformable
	)

Definition at line 1769 of file buffer_core_test.cpp.

TEST() [16/17]

TEST	(	BufferCore_transformableCallbacks	,
		waitForNewTransform
	)

Definition at line 1785 of file buffer_core_test.cpp.

TEST() [17/17]

TEST	(	BufferCore_transformableCallbacks	,
		waitForOldTransform
	)

Definition at line 1812 of file buffer_core_test.cpp.