def test_laser_easy(self): cache = RobotMeasurementCache() cache.reconfigure([], [], ["laser1"]) cache.set_max_sizes( {}, {}, {"laser1":100}) for n in range(1,11): msg = LaserMeasurement() cache.add_laser_measurement("laser1", msg, rospy.Time(n*10,0), rospy.Time(n*10+2,0)) m_robot = cache.request_robot_measurement(rospy.Time(19,0), rospy.Time(32,0)) self.assertTrue(m_robot is not None) self.assertEquals( len(m_robot.M_cam), 0 ) self.assertEquals( len(m_robot.M_chain), 0 ) self.assertEquals( len(m_robot.M_laser), 1 ) m_robot = cache.request_robot_measurement(rospy.Time(20,0), rospy.Time(21,0)) self.assertTrue(m_robot is None)
def test_chain_easy(self): cache = RobotMeasurementCache() cache.reconfigure([], ["chain1"], []) cache.set_max_sizes( {}, {"chain1":100}, {}) for n in range(1,11): msg = ChainMeasurement() msg.header.stamp = rospy.Time(n*10,0) cache.add_chain_measurement("chain1", msg) m_robot = cache.request_robot_measurement(rospy.Time(18,0), rospy.Time(32,0)) self.assertTrue(m_robot is not None) self.assertEquals( len(m_robot.M_cam), 0 ) self.assertEquals( len(m_robot.M_chain), 1 ) self.assertEquals( len(m_robot.M_laser), 0 ) m_robot = cache.request_robot_measurement(rospy.Time(21,0), rospy.Time(29,0)) self.assertTrue(m_robot is None)
def test_multi_cam_easy(self): cache = RobotMeasurementCache() cache.reconfigure(["cam1", "cam2"], [], []) cache.set_max_sizes( {"cam1":100, "cam2":100}, {}, {}) for n in range(1,11): msg = CameraMeasurement() msg.header.stamp = rospy.Time(n*10,0) cache.add_cam_measurement("cam1", msg) for n in range(1,11): msg = CameraMeasurement() msg.header.stamp = rospy.Time(n*10+1,0) cache.add_cam_measurement("cam2", msg) m_robot = cache.request_robot_measurement(rospy.Time(18,0), rospy.Time(32,0)) self.assertTrue(m_robot is not None) self.assertEquals( len(m_robot.M_cam), 2 ) self.assertEquals( len(m_robot.M_chain), 0 ) self.assertEquals( len(m_robot.M_laser), 0 ) m_robot = cache.request_robot_measurement(rospy.Time(20,0), rospy.Time(30,0)) self.assertTrue(m_robot is None)