def test_clear(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=0).to_msg())
buffer_core.set_transform(transform, 'unittest')
result, _ = buffer_core.can_transform_core(target_frame='foo',
source_frame='bar',
time=rclpy.time.Time())
self.assertTrue(result)
buffer_core.clear()
result, _ = buffer_core.can_transform_core(target_frame='foo',
source_frame='bar',
time=rclpy.time.Time())
self.assertFalse(result)
def test_set_transform(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo', rclpy.time.Time().to_msg())
result = buffer_core.set_transform(transform, 'unittest')
self.assertEqual(result, None)
result, _ = buffer_core.can_transform_core(
target_frame='bar',
source_frame='foo',
time=rclpy.time.Time(seconds=0.5))
self.assertEqual(result, 0)
def test_can_transform_core_fail(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=1).to_msg())
buffer_core.set_transform(transform, 'unittest')
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=2).to_msg())
buffer_core.set_transform(transform, 'unittest')
result, error_msg = buffer_core.can_transform_core(
target_frame='foo',
source_frame='bar',
time=rclpy.time.Time(seconds=2.5))
self.assertEqual(result, 0)
self.assertIn('extrapolation into the future', error_msg)
result, error_msg = buffer_core.can_transform_core(
target_frame='foo',
source_frame='bar',
time=rclpy.time.Time(seconds=0.5))
self.assertEqual(result, 0)
self.assertIn('extrapolation into the past', error_msg)
def test_can_transform_core_pass(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo', rclpy.time.Time().to_msg())
buffer_core.set_transform(transform, 'unittest')
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=1).to_msg())
buffer_core.set_transform(transform, 'unittest')
result, error_msg = buffer_core.can_transform_core(
target_frame='foo',
source_frame='bar',
time=rclpy.time.Time(seconds=0.5))
self.assertEqual(result, 1)
self.assertEqual(error_msg, '')
