first commit

2026-02-07 10:41:43 +07:00
parent 4169c83ba6
commit a98ccb43c6
37 changed files with 8566 additions and 0 deletions
--- a/test/static_cache_test.cpp
+++ b/test/static_cache_test.cpp
@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2008, Willow Garage, Inc.
+ * All rights reserved.
+ * 
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * 
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the Willow Garage, Inc. nor the names of its
+ *       contributors may be used to endorse or promote products derived from
+ *       this software without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <gtest/gtest.h>
+#include <tf3/time_cache.h>
+#include <stdexcept>
+
+#include <robot_geometry_msgs/TransformStamped.h>
+
+#include <cmath>
+
+using namespace tf3;
+
+
+void setIdentity(TransformStorage& stor)
+{
+  stor.translation_.setValue(0.0, 0.0, 0.0);
+  stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
+}
+
+TEST(StaticCache, Repeatability)
+{
+  unsigned int runs = 100;
+  
+  tf3::StaticCache  cache;
+
+  TransformStorage stor;
+  setIdentity(stor);
+  
+  for ( uint64_t i = 1; i < runs ; i++ )
+  {
+    stor.frame_id_ = CompactFrameID(i);
+    stor.stamp_ = robot::Time().fromNSec(i);
+    
+    cache.insertData(stor);
+
+    
+    cache.getData(robot::Time().fromNSec(i), stor);
+    EXPECT_EQ(stor.frame_id_, i);
+    EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(i));
+    
+  }
+}
+
+TEST(StaticCache, DuplicateEntries)
+{
+
+  tf3::StaticCache cache;
+
+  TransformStorage stor;
+  setIdentity(stor);
+  stor.frame_id_ = CompactFrameID(3);
+  stor.stamp_ = robot::Time().fromNSec(1);
+
+  cache.insertData(stor);
+
+  cache.insertData(stor);
+
+
+  cache.getData(robot::Time().fromNSec(1), stor);
+  
+  //printf(" stor is %f\n", stor.transform.translation.x);
+  EXPECT_TRUE(!std::isnan(stor.translation_.x()));
+  EXPECT_TRUE(!std::isnan(stor.translation_.y()));
+  EXPECT_TRUE(!std::isnan(stor.translation_.z()));
+  EXPECT_TRUE(!std::isnan(stor.rotation_.x()));
+  EXPECT_TRUE(!std::isnan(stor.rotation_.y()));
+  EXPECT_TRUE(!std::isnan(stor.rotation_.z()));
+  EXPECT_TRUE(!std::isnan(stor.rotation_.w()));
+}
+
+int main(int argc, char **argv){
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}