92 lines
3.7 KiB
C++
92 lines
3.7 KiB
C++
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/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/transform/transform_interpolation_buffer.h"
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#include "Eigen/Core"
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#include "Eigen/Geometry"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer/transform/rigid_transform_test_helpers.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace transform {
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namespace {
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TEST(TransformInterpolationBufferTest, testHas) {
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TransformInterpolationBuffer buffer;
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EXPECT_FALSE(buffer.Has(common::FromUniversal(50)));
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buffer.Push(common::FromUniversal(50), transform::Rigid3d::Identity());
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EXPECT_FALSE(buffer.Has(common::FromUniversal(25)));
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EXPECT_TRUE(buffer.Has(common::FromUniversal(50)));
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EXPECT_FALSE(buffer.Has(common::FromUniversal(75)));
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buffer.Push(common::FromUniversal(100), transform::Rigid3d::Identity());
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EXPECT_FALSE(buffer.Has(common::FromUniversal(25)));
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EXPECT_TRUE(buffer.Has(common::FromUniversal(50)));
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EXPECT_TRUE(buffer.Has(common::FromUniversal(75)));
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EXPECT_TRUE(buffer.Has(common::FromUniversal(100)));
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EXPECT_FALSE(buffer.Has(common::FromUniversal(125)));
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EXPECT_EQ(common::FromUniversal(50), buffer.earliest_time());
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EXPECT_EQ(common::FromUniversal(100), buffer.latest_time());
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}
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TEST(TransformInterpolationBufferTest, testLookup) {
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TransformInterpolationBuffer buffer;
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buffer.Push(common::FromUniversal(50), transform::Rigid3d::Identity());
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// The rotation needs to be relatively small in order for the interpolation to
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// remain a z-axis rotation.
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buffer.Push(common::FromUniversal(100),
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transform::Rigid3d::Translation(Eigen::Vector3d(10., 10., 10.)) *
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transform::Rigid3d::Rotation(
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Eigen::AngleAxisd(2., Eigen::Vector3d::UnitZ())));
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const common::Time time = common::FromUniversal(75);
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const transform::Rigid3d interpolated = buffer.Lookup(time);
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EXPECT_THAT(
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interpolated,
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IsNearly(transform::Rigid3d::Translation(Eigen::Vector3d(5., 5., 5.)) *
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transform::Rigid3d::Rotation(
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Eigen::AngleAxisd(1., Eigen::Vector3d::UnitZ())),
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1e-6));
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}
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TEST(TransformInterpolationBufferTest, testLookupSingleTransform) {
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TransformInterpolationBuffer buffer;
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const common::Time time = common::FromUniversal(75);
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buffer.Push(time, transform::Rigid3d::Identity());
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const transform::Rigid3d interpolated = buffer.Lookup(time);
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EXPECT_THAT(interpolated, IsNearly(transform::Rigid3d::Identity(), 1e-6));
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}
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TEST(TransformInterpolationBufferTest, testSetSizeLimit) {
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TransformInterpolationBuffer buffer;
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EXPECT_EQ(buffer.size_limit(), kUnlimitedBufferSize);
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buffer.Push(common::FromUniversal(0), transform::Rigid3d::Identity());
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buffer.Push(common::FromUniversal(1), transform::Rigid3d::Identity());
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buffer.Push(common::FromUniversal(2), transform::Rigid3d::Identity());
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EXPECT_EQ(buffer.size(), 3);
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buffer.SetSizeLimit(2);
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EXPECT_EQ(buffer.size_limit(), 2);
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EXPECT_EQ(buffer.size(), 2);
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EXPECT_FALSE(buffer.Has(common::FromUniversal(0)));
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buffer.Push(common::FromUniversal(3), transform::Rigid3d::Identity());
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EXPECT_EQ(buffer.size(), 2);
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EXPECT_FALSE(buffer.Has(common::FromUniversal(1)));
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}
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} // namespace
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} // namespace transform
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} // namespace cartographer
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