buffer_core_test.cpp File Reference

#include <gtest/gtest.h>
#include <tf2/buffer_core.h>
#include "tf2/exceptions.h"
#include <sys/time.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
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 Documentation

#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 1162 of file buffer_core_test.cpp.

#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 1170 of file buffer_core_test.cpp.

---

Function Documentation

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 705 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 740 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 850 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 47 of file buffer_core_test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 2812 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 158 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 71 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 125 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 93 of file buffer_core_test.cpp.

void seed_rand

(

)

Definition at line 39 of file buffer_core_test.cpp.

void setIdentity

(

geometry_msgs::Transform &

trans

)

Definition at line 59 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 167 of file buffer_core_test.cpp.

TEST	(	BufferCore_transformableCallbacks	,
		waitForOldTransform
	)

Definition at line 1831 of file buffer_core_test.cpp.

TEST	(	BufferCore_transformableCallbacks	,
		waitForNewTransform
	)

Definition at line 1804 of file buffer_core_test.cpp.

TEST	(	BufferCore_transformableCallbacks	,
		alreadyTransformable
	)

Definition at line 1788 of file buffer_core_test.cpp.

TEST	(	BufferCore_canTransform	,
		invalid_arguments
	)

Definition at line 1754 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		invalid_arguments
	)

Definition at line 1736 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		ring_45_configuration
	)

Definition at line 1428 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		helix_configuration
	)

Definition at line 1318 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		compound_xfm_configuration
	)

Definition at line 1178 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		multi_configuration
	)

Definition at line 1097 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		y_configuration
	)

Definition at line 1051 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		v_configuration
	)

Definition at line 1004 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		one_link_configuration
	)

Definition at line 960 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		i_configuration
	)

Definition at line 622 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertWithNoParentID
	)

Definition at line 331 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertWithNoFrameID
	)

Definition at line 317 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertWithNan
	)

Definition at line 302 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertOnSelfTransform
	)

Definition at line 291 of file buffer_core_test.cpp.