static_cache_test.cpp
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29 
30 #include <gtest/gtest.h>
31 #include <tf2/time_cache.h>
32 #include <stdexcept>
33 
34 #include <geometry_msgs/TransformStamped.h>
35 
36 #include <cmath>
37 
38 using namespace tf2;
39 
40 
42 {
43  stor.translation_.setValue(0.0, 0.0, 0.0);
44  stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
45 }
46 
47 TEST(StaticCache, Repeatability)
48 {
49  unsigned int runs = 100;
50 
51  tf2::StaticCache cache;
52 
53  TransformStorage stor;
54  setIdentity(stor);
55 
56  for ( uint64_t i = 1; i < runs ; i++ )
57  {
58  stor.frame_id_ = CompactFrameID(i);
59  stor.stamp_ = ros::Time().fromNSec(i);
60 
61  cache.insertData(stor);
62 
63 
64  cache.getData(ros::Time().fromNSec(i), stor);
65  EXPECT_EQ(stor.frame_id_, i);
66  EXPECT_EQ(stor.stamp_, ros::Time().fromNSec(i));
67 
68  }
69 }
70 
71 TEST(StaticCache, DuplicateEntries)
72 {
73 
74  tf2::StaticCache cache;
75 
76  TransformStorage stor;
77  setIdentity(stor);
78  stor.frame_id_ = CompactFrameID(3);
79  stor.stamp_ = ros::Time().fromNSec(1);
80 
81  cache.insertData(stor);
82 
83  cache.insertData(stor);
84 
85 
86  cache.getData(ros::Time().fromNSec(1), stor);
87 
88  //printf(" stor is %f\n", stor.transform.translation.x);
89  EXPECT_TRUE(!std::isnan(stor.translation_.x()));
90  EXPECT_TRUE(!std::isnan(stor.translation_.y()));
91  EXPECT_TRUE(!std::isnan(stor.translation_.z()));
92  EXPECT_TRUE(!std::isnan(stor.rotation_.x()));
93  EXPECT_TRUE(!std::isnan(stor.rotation_.y()));
94  EXPECT_TRUE(!std::isnan(stor.rotation_.z()));
95  EXPECT_TRUE(!std::isnan(stor.rotation_.w()));
96 }
97 
98 int main(int argc, char **argv){
99  testing::InitGoogleTest(&argc, argv);
100  return RUN_ALL_TESTS();
101 }
void setIdentity(geometry_msgs::Transform &tx)
Definition: buffer_core.cpp:92
uint32_t CompactFrameID
Time & fromNSec(uint64_t t)
tf2::Quaternion rotation_
TEST(StaticCache, Repeatability)
virtual bool getData(ros::Time time, TransformStorage &data_out, std::string *error_str=0)
Virtual methods.
Storage for transforms and their parent.
CompactFrameID frame_id_
int main(int argc, char **argv)
virtual bool insertData(const TransformStorage &new_data)
Insert data into the cache.


tf2
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed Feb 12 2020 03:16:17