Classes | Defines | Functions
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_setTransform, NoInsertOnSelfTransform)
 TEST (BufferCore_setTransform, NoInsertWithNan)
 TEST (BufferCore_setTransform, NoInsertWithNoFrameID)
 TEST (BufferCore_setTransform, NoInsertWithNoParentID)
 TEST (BufferCore_lookupTransform, i_configuration)
 TEST (BufferCore_lookupTransform, one_link_configuration)
 TEST (BufferCore_lookupTransform, v_configuration)
 TEST (BufferCore_lookupTransform, y_configuration)
 TEST (BufferCore_lookupTransform, multi_configuration)
 TEST (BufferCore_lookupTransform, compound_xfm_configuration)
 TEST (BufferCore_lookupTransform, helix_configuration)
 TEST (BufferCore_lookupTransform, ring_45_configuration)
 TEST (BufferCore_lookupTransform, invalid_arguments)
 TEST (BufferCore_canTransform, invalid_arguments)
 TEST (BufferCore_transformableCallbacks, alreadyTransformable)
 TEST (BufferCore_transformableCallbacks, waitForNewTransform)
 TEST (BufferCore_transformableCallbacks, waitForOldTransform)

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_setTransform  ,
NoInsertOnSelfTransform   
)

Definition at line 291 of file buffer_core_test.cpp.

TEST ( BufferCore_setTransform  ,
NoInsertWithNan   
)

Definition at line 302 of file buffer_core_test.cpp.

TEST ( BufferCore_setTransform  ,
NoInsertWithNoFrameID   
)

Definition at line 317 of file buffer_core_test.cpp.

TEST ( BufferCore_setTransform  ,
NoInsertWithNoParentID   
)

Definition at line 331 of file buffer_core_test.cpp.

TEST ( BufferCore_lookupTransform  ,
i_configuration   
)

Definition at line 622 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  ,
v_configuration   
)

Definition at line 1004 of file buffer_core_test.cpp.

TEST ( BufferCore_lookupTransform  ,
y_configuration   
)

Definition at line 1051 of file buffer_core_test.cpp.

TEST ( BufferCore_lookupTransform  ,
multi_configuration   
)

Definition at line 1097 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  ,
helix_configuration   
)

Definition at line 1318 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  ,
invalid_arguments   
)

Definition at line 1736 of file buffer_core_test.cpp.

TEST ( BufferCore_canTransform  ,
invalid_arguments   
)

Definition at line 1754 of file buffer_core_test.cpp.

TEST ( BufferCore_transformableCallbacks  ,
alreadyTransformable   
)

Definition at line 1788 of file buffer_core_test.cpp.

TEST ( BufferCore_transformableCallbacks  ,
waitForNewTransform   
)

Definition at line 1804 of file buffer_core_test.cpp.

TEST ( BufferCore_transformableCallbacks  ,
waitForOldTransform   
)

Definition at line 1831 of file buffer_core_test.cpp.

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test_tf2
Author(s): Tully Foote, Eitan Marder-Eppstein
autogenerated on Mon Feb 11 2013 02:14:30