static_cache_test.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  * 
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  * 
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <gtest/gtest.h>
00031 #include <tf2/time_cache.h>
00032 #include <sys/time.h>
00033 #include <stdexcept>
00034 
00035 #include <geometry_msgs/TransformStamped.h>
00036 
00037 #include <cmath>
00038 
00039 using namespace tf2;
00040 
00041 
00042 void setIdentity(TransformStorage& stor)
00043 {
00044   stor.translation_.setValue(0.0, 0.0, 0.0);
00045   stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
00046 }
00047 
00048 TEST(StaticCache, Repeatability)
00049 {
00050   unsigned int runs = 100;
00051   
00052   tf2::StaticCache  cache;
00053 
00054   TransformStorage stor;
00055   setIdentity(stor);
00056   
00057   for ( uint64_t i = 1; i < runs ; i++ )
00058   {
00059     stor.frame_id_ = CompactFrameID(i);
00060     stor.stamp_ = ros::Time().fromNSec(i);
00061     
00062     cache.insertData(stor);
00063 
00064     
00065     cache.getData(ros::Time().fromNSec(i), stor);
00066     EXPECT_EQ(stor.frame_id_, i);
00067     EXPECT_EQ(stor.stamp_, ros::Time().fromNSec(i));
00068     
00069   }
00070 }
00071 
00072 TEST(StaticCache, DuplicateEntries)
00073 {
00074 
00075   tf2::StaticCache cache;
00076 
00077   TransformStorage stor;
00078   setIdentity(stor);
00079   stor.frame_id_ = CompactFrameID(3);
00080   stor.stamp_ = ros::Time().fromNSec(1);
00081 
00082   cache.insertData(stor);
00083 
00084   cache.insertData(stor);
00085 
00086 
00087   cache.getData(ros::Time().fromNSec(1), stor);
00088   
00089   //printf(" stor is %f\n", stor.transform.translation.x);
00090   EXPECT_TRUE(!std::isnan(stor.translation_.x()));
00091   EXPECT_TRUE(!std::isnan(stor.translation_.y()));
00092   EXPECT_TRUE(!std::isnan(stor.translation_.z()));
00093   EXPECT_TRUE(!std::isnan(stor.rotation_.x()));
00094   EXPECT_TRUE(!std::isnan(stor.rotation_.y()));
00095   EXPECT_TRUE(!std::isnan(stor.rotation_.z()));
00096   EXPECT_TRUE(!std::isnan(stor.rotation_.w()));
00097 }
00098 
00099 int main(int argc, char **argv){
00100   testing::InitGoogleTest(&argc, argv);
00101   return RUN_ALL_TESTS();
00102 }


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Thu Jan 4 2018 03:35:29