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

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_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)

Macro Definition 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 1142 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 1150 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 685 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 720 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 830 of file buffer_core_test.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 2792 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 138 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 51 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 105 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 73 of file buffer_core_test.cpp.

void setIdentity

(

geometry_msgs::Transform &

trans

)

Definition at line 39 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 147 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertOnSelfTransform
	)

Definition at line 271 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertWithNan
	)

Definition at line 282 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertWithNoFrameID
	)

Definition at line 297 of file buffer_core_test.cpp.

TEST	(	BufferCore_setTransform	,
		NoInsertWithNoParentID
	)

Definition at line 311 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		i_configuration
	)

Definition at line 602 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		one_link_configuration
	)

Definition at line 940 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		v_configuration
	)

Definition at line 984 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		y_configuration
	)

Definition at line 1031 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		multi_configuration
	)

Definition at line 1077 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		compound_xfm_configuration
	)

Definition at line 1158 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		helix_configuration
	)

Definition at line 1298 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		ring_45_configuration
	)

Definition at line 1408 of file buffer_core_test.cpp.

TEST	(	BufferCore_lookupTransform	,
		invalid_arguments
	)

Definition at line 1716 of file buffer_core_test.cpp.

TEST	(	BufferCore_canTransform	,
		invalid_arguments
	)

Definition at line 1734 of file buffer_core_test.cpp.

TEST	(	BufferCore_transformableCallbacks	,
		alreadyTransformable
	)

Definition at line 1768 of file buffer_core_test.cpp.

TEST	(	BufferCore_transformableCallbacks	,
		waitForNewTransform
	)

Definition at line 1784 of file buffer_core_test.cpp.

TEST	(	BufferCore_transformableCallbacks	,
		waitForOldTransform
	)

Definition at line 1811 of file buffer_core_test.cpp.