/
test_storage.cpp
130 lines (123 loc) · 5.26 KB
/
test_storage.cpp
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// Copyright (c) 2024 Dexory. 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 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 HOLDER 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 "tf2/LinearMath/Quaternion.h"
#include "tf2/LinearMath/Vector3.h"
#include "tf2/time.h"
#include "tf2/transform_storage.h"
class TransformStorageTest : public ::testing::Test
{
protected:
tf2::TransformStorage createTransformStorage()
{
const tf2::CompactFrameID frame_id(0);
const tf2::CompactFrameID child_frame_id(1);
const tf2::TimePoint stamp(tf2::TimePointZero);
const tf2::Quaternion rotation(0.0, 0.0, 0.0, 1.0);
const tf2::Vector3 translation(0.0, 0.0, 0.0);
return tf2::TransformStorage(stamp, rotation, translation, frame_id, child_frame_id);
}
};
TEST_F(TransformStorageTest, EqualityOperator) {
// Create a dummy storage, set to identity
tf2::TransformStorage transformStorage1 = createTransformStorage();
// tf2::Quaternion rotation_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.rotation_.setValue(1.0, 0.0, 0.0, 0.0);
ASSERT_FALSE(transformStorage1 == transformStorage2);
}
// tf2::Vector3 translation_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.translation_.setValue(1.0, 0.0, 0.0);
ASSERT_FALSE(transformStorage1 == transformStorage2);
}
// TimePoint stamp_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.stamp_ = tf2::TimePoint(tf2::durationFromSec(1.0));
ASSERT_FALSE(transformStorage1 == transformStorage2);
}
// CompactFrameID frame_id_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.frame_id_ = 55;
ASSERT_FALSE(transformStorage1 == transformStorage2);
}
// CompactFrameID child_frame_id_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.translation_.setValue(1.0, 0.0, 0.0);
ASSERT_FALSE(transformStorage1 == transformStorage2);
}
}
TEST_F(TransformStorageTest, InequalityOperator) {
// Create a dummy storage, set to identity
tf2::TransformStorage transformStorage1 = createTransformStorage();
// tf2::Quaternion rotation_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.rotation_.setValue(1.0, 0.0, 0.0, 0.0);
ASSERT_TRUE(transformStorage1 != transformStorage2);
}
// tf2::Vector3 translation_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.translation_.setValue(1.0, 0.0, 0.0);
ASSERT_TRUE(transformStorage1 != transformStorage2);
}
// TimePoint stamp_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.stamp_ = tf2::TimePoint(tf2::durationFromSec(1.0));
ASSERT_TRUE(transformStorage1 != transformStorage2);
}
// CompactFrameID frame_id_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.frame_id_ = 55;
ASSERT_TRUE(transformStorage1 != transformStorage2);
}
// CompactFrameID child_frame_id_;
{
tf2::TransformStorage transformStorage2 = createTransformStorage();
ASSERT_TRUE(transformStorage1 == transformStorage2);
transformStorage2.translation_.setValue(1.0, 0.0, 0.0);
ASSERT_TRUE(transformStorage1 != transformStorage2);
}
}