102 lines
3.1 KiB
C++
102 lines
3.1 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 <stdexcept>
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#include <robot_geometry_msgs/TransformStamped.h>
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#include <cmath>
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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(StaticCache, Repeatability)
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{
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unsigned int runs = 100;
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tf3::StaticCache 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_ = CompactFrameID(i);
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stor.stamp_ = robot::Time().fromNSec(i);
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cache.insertData(stor);
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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(StaticCache, DuplicateEntries)
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{
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tf3::StaticCache cache;
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TransformStorage stor;
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setIdentity(stor);
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stor.frame_id_ = CompactFrameID(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.transform.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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