415 lines
11 KiB
C++
415 lines
11 KiB
C++
/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#include <gtest/gtest.h>
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#include <tf3/time_cache.h>
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#include "tf3/LinearMath/Quaternion.h"
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#include <stdexcept>
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#include <robot_geometry_msgs/TransformStamped.h>
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#include <cmath>
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std::vector<double> values;
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unsigned int step = 0;
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void seed_rand()
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{
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values.clear();
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for (unsigned int i = 0; i < 1000; i++)
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{
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int pseudo_rand = std::floor(i * M_PI);
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values.push_back(( pseudo_rand % 100)/50.0 - 1.0);
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//printf("Seeding with %f\n", values.back());
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}
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};
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double get_rand()
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{
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if (values.size() == 0) throw std::runtime_error("you need to call seed_rand first");
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if (step >= values.size())
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step = 0;
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else
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step++;
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return values[step];
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}
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using namespace tf3;
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void setIdentity(TransformStorage& stor)
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{
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stor.translation_.setValue(0.0, 0.0, 0.0);
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stor.rotation_.setValue(0.0, 0.0, 0.0, 1.0);
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}
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TEST(TimeCache, Repeatability)
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{
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unsigned int runs = 100;
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tf3::TimeCache cache;
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TransformStorage stor;
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setIdentity(stor);
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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stor.frame_id_ = i;
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stor.stamp_ = robot::Time().fromNSec(i);
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cache.insertData(stor);
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}
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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cache.getData(robot::Time().fromNSec(i), stor);
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EXPECT_EQ(stor.frame_id_, i);
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EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(i));
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}
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}
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TEST(TimeCache, RepeatabilityReverseInsertOrder)
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{
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unsigned int runs = 100;
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tf3::TimeCache cache;
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TransformStorage stor;
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setIdentity(stor);
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for ( int i = runs -1; i >= 0 ; i-- )
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{
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stor.frame_id_ = i;
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stor.stamp_ = robot::Time().fromNSec(i);
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cache.insertData(stor);
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}
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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cache.getData(robot::Time().fromNSec(i), stor);
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EXPECT_EQ(stor.frame_id_, i);
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EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(i));
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}
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}
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#if 0 // jfaust: this doesn't seem to actually be testing random insertion?
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TEST(TimeCache, RepeatabilityRandomInsertOrder)
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{
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seed_rand();
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tf3::TimeCache cache;
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double my_vals[] = {13,2,5,4,9,7,3,11,15,14,12,1,6,10,0,8};
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std::vector<double> values (my_vals, my_vals + sizeof(my_vals)/sizeof(double));
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unsigned int runs = values.size();
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TransformStorage stor;
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setIdentity(stor);
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for ( uint64_t i = 0; i <runs ; i++ )
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{
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values[i] = 10.0 * get_rand();
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std::stringstream ss;
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ss << values[i];
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stor.header.frame_id = ss.str();
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stor.frame_id_ = i;
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stor.stamp_ = robot::Time().fromNSec(i);
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cache.insertData(stor);
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}
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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cache.getData(robot::Time().fromNSec(i), stor);
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EXPECT_EQ(stor.frame_id_, i);
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EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(i));
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std::stringstream ss;
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ss << values[i];
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EXPECT_EQ(stor.header.frame_id, ss.str());
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}
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}
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#endif
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TEST(TimeCache, ZeroAtFront)
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{
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uint64_t runs = 100;
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tf3::TimeCache cache;
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TransformStorage stor;
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setIdentity(stor);
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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stor.frame_id_ = i;
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stor.stamp_ = robot::Time().fromNSec(i);
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cache.insertData(stor);
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}
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stor.frame_id_ = runs;
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stor.stamp_ = robot::Time().fromNSec(runs);
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cache.insertData(stor);
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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cache.getData(robot::Time().fromNSec(i), stor);
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EXPECT_EQ(stor.frame_id_, i);
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EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(i));
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}
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cache.getData(robot::Time(), stor);
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EXPECT_EQ(stor.frame_id_, runs);
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EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(runs));
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stor.frame_id_ = runs;
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stor.stamp_ = robot::Time().fromNSec(runs+1);
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cache.insertData(stor);
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//Make sure we get a different value now that a new values is added at the front
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cache.getData(robot::Time(), stor);
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EXPECT_EQ(stor.frame_id_, runs);
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EXPECT_EQ(stor.stamp_, robot::Time().fromNSec(runs+1));
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}
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TEST(TimeCache, CartesianInterpolation)
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{
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uint64_t runs = 100;
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double epsilon = 2e-6;
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seed_rand();
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tf3::TimeCache cache;
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std::vector<double> xvalues(2);
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std::vector<double> yvalues(2);
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std::vector<double> zvalues(2);
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uint64_t offset = 200;
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TransformStorage stor;
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setIdentity(stor);
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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for (uint64_t step = 0; step < 2 ; step++)
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{
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xvalues[step] = 10.0 * get_rand();
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yvalues[step] = 10.0 * get_rand();
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zvalues[step] = 10.0 * get_rand();
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stor.translation_.setValue(xvalues[step], yvalues[step], zvalues[step]);
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stor.frame_id_ = 2;
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stor.stamp_ = robot::Time().fromNSec(step * 100 + offset);
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cache.insertData(stor);
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}
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for (int pos = 0; pos < 100 ; pos ++)
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{
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uint64_t time = offset + pos;
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cache.getData(robot::Time().fromNSec(time), stor);
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uint64_t time_out = stor.stamp_.toNSec();
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double x_out = stor.translation_.x();
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double y_out = stor.translation_.y();
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double z_out = stor.translation_.z();
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// printf("pose %d, %f %f %f, expected %f %f %f\n", pos, x_out, y_out, z_out,
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// xvalues[0] + (xvalues[1] - xvalues[0]) * (double)pos/100.,
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// yvalues[0] + (yvalues[1] - yvalues[0]) * (double)pos/100.0,
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// zvalues[0] + (xvalues[1] - zvalues[0]) * (double)pos/100.0);
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EXPECT_EQ(time, time_out);
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EXPECT_NEAR(xvalues[0] + (xvalues[1] - xvalues[0]) * (double)pos/100.0, x_out, epsilon);
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EXPECT_NEAR(yvalues[0] + (yvalues[1] - yvalues[0]) * (double)pos/100.0, y_out, epsilon);
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EXPECT_NEAR(zvalues[0] + (zvalues[1] - zvalues[0]) * (double)pos/100.0, z_out, epsilon);
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}
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cache.clearList();
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}
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}
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/** \brief Make sure we dont' interpolate across reparented data */
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TEST(TimeCache, ReparentingInterpolationProtection)
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{
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double epsilon = 1e-6;
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uint64_t offset = 555;
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seed_rand();
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tf3::TimeCache cache;
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std::vector<double> xvalues(2);
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std::vector<double> yvalues(2);
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std::vector<double> zvalues(2);
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TransformStorage stor;
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setIdentity(stor);
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for (uint64_t step = 0; step < 2 ; step++)
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{
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xvalues[step] = 10.0 * get_rand();
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yvalues[step] = 10.0 * get_rand();
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zvalues[step] = 10.0 * get_rand();
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stor.translation_.setValue(xvalues[step], yvalues[step], zvalues[step]);
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stor.frame_id_ = step + 4;
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stor.stamp_ = robot::Time().fromNSec(step * 100 + offset);
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cache.insertData(stor);
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}
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for (int pos = 0; pos < 100 ; pos ++)
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{
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EXPECT_TRUE(cache.getData(robot::Time().fromNSec(offset + pos), stor));
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double x_out = stor.translation_.x();
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double y_out = stor.translation_.y();
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double z_out = stor.translation_.z();
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EXPECT_NEAR(xvalues[0], x_out, epsilon);
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EXPECT_NEAR(yvalues[0], y_out, epsilon);
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EXPECT_NEAR(zvalues[0], z_out, epsilon);
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}
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}
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TEST(Bullet, Slerp)
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{
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uint64_t runs = 100;
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seed_rand();
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tf3::Quaternion q1, q2;
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q1.setEuler(0,0,0);
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for (uint64_t i = 0 ; i < runs ; i++)
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{
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q2.setEuler(1.0 * get_rand(),
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1.0 * get_rand(),
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1.0 * get_rand());
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tf3::Quaternion q3 = slerp(q1,q2,0.5);
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EXPECT_NEAR(q3.angle(q1), q2.angle(q3), 1e-5);
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}
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}
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TEST(TimeCache, AngularInterpolation)
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{
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uint64_t runs = 100;
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double epsilon = 1e-6;
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seed_rand();
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tf3::TimeCache cache;
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std::vector<double> yawvalues(2);
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std::vector<double> pitchvalues(2);
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std::vector<double> rollvalues(2);
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uint64_t offset = 200;
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std::vector<tf3::Quaternion> quats(2);
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TransformStorage stor;
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setIdentity(stor);
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for ( uint64_t i = 1; i < runs ; i++ )
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{
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for (uint64_t step = 0; step < 2 ; step++)
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{
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yawvalues[step] = 10.0 * get_rand() / 100.0;
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pitchvalues[step] = 0;//10.0 * get_rand();
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rollvalues[step] = 0;//10.0 * get_rand();
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quats[step].setRPY(yawvalues[step], pitchvalues[step], rollvalues[step]);
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stor.rotation_ = quats[step];
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stor.frame_id_ = 3;
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stor.stamp_ = robot::Time().fromNSec(offset + (step * 100)); //step = 0 or 1
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cache.insertData(stor);
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}
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for (int pos = 0; pos < 100 ; pos ++)
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{
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uint64_t time = offset + pos;
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cache.getData(robot::Time().fromNSec(time), stor);
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uint64_t time_out = stor.stamp_.toNSec();
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tf3::Quaternion quat (stor.rotation_);
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//Generate a ground truth quaternion directly calling slerp
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tf3::Quaternion ground_truth = quats[0].slerp(quats[1], pos/100.0);
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//Make sure the transformed one and the direct call match
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EXPECT_EQ(time, time_out);
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EXPECT_NEAR(0, angle(ground_truth, quat), epsilon);
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}
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cache.clearList();
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}
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}
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TEST(TimeCache, DuplicateEntries)
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{
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TimeCache cache;
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TransformStorage stor;
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setIdentity(stor);
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stor.frame_id_ = 3;
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stor.stamp_ = robot::Time().fromNSec(1);
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cache.insertData(stor);
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cache.insertData(stor);
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cache.getData(robot::Time().fromNSec(1), stor);
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//printf(" stor is %f\n", stor.translation_.x());
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EXPECT_TRUE(!std::isnan(stor.translation_.x()));
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EXPECT_TRUE(!std::isnan(stor.translation_.y()));
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EXPECT_TRUE(!std::isnan(stor.translation_.z()));
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EXPECT_TRUE(!std::isnan(stor.rotation_.x()));
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EXPECT_TRUE(!std::isnan(stor.rotation_.y()));
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EXPECT_TRUE(!std::isnan(stor.rotation_.z()));
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EXPECT_TRUE(!std::isnan(stor.rotation_.w()));
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}
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int main(int argc, char **argv){
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testing::InitGoogleTest(&argc, argv);
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return RUN_ALL_TESTS();
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}
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