def test_await_transform_full_immediately_available(self):
# wait for a transform that is already available to test short-cut code
buffer = Buffer()
clock = rclpy.clock.Clock()
rclpy_time = clock.now()
transform = self.build_transform('foo', 'bar', rclpy_time)
buffer.set_transform(transform, 'unittest')
coro = buffer.lookup_transform_full_async('foo', rclpy_time, 'bar', rclpy_time, 'foo')
with self.assertRaises(StopIteration) as cm:
coro.send(None)
self.assertEqual(transform, cm.exception.value)
coro.close()
def test_await_transform_delayed(self):
# wait for a transform that is not yet available
buffer = Buffer()
clock = rclpy.clock.Clock()
rclpy_time = clock.now()
transform = self.build_transform('foo', 'bar', rclpy_time)
coro = buffer.lookup_transform_async('foo', 'bar', rclpy_time)
coro.send(None)
buffer.set_transform(transform, 'unittest')
with self.assertRaises(StopIteration) as cm:
coro.send(None)
self.assertEqual(transform, cm.exception.value)
coro.close()
def test_can_transform_valid_transform(self):
buffer = Buffer()
clock = rclpy.clock.Clock()
rclpy_time = clock.now()
transform = self.build_transform('foo', 'bar', rclpy_time)
self.assertEqual(buffer.set_transform(transform, 'unittest'), None)
self.assertEqual(buffer.can_transform('foo', 'bar', rclpy_time), True)
output = buffer.lookup_transform('foo', 'bar', rclpy_time)
self.assertEqual(transform.child_frame_id, output.child_frame_id)
self.assertEqual(transform.transform.translation.x, output.transform.translation.x)
self.assertEqual(transform.transform.translation.y, output.transform.translation.y)
self.assertEqual(transform.transform.translation.z, output.transform.translation.z)
def test_buffer_non_default_cache(self):
buffer = Buffer(cache_time=rclpy.duration.Duration(seconds=10.0))
clock = rclpy.clock.Clock()
rclpy_time = clock.now()
transform = self.build_transform('foo', 'bar', rclpy_time)
self.assertEqual(buffer.set_transform(transform, 'unittest'), None)
self.assertEqual(buffer.can_transform('foo', 'bar', rclpy_time), True)
output = buffer.lookup_transform('foo', 'bar', rclpy_time)
self.assertEqual(transform.child_frame_id, output.child_frame_id)
self.assertEqual(transform.transform.translation.x,
output.transform.translation.x)
self.assertEqual(transform.transform.translation.y,
output.transform.translation.y)
self.assertEqual(transform.transform.translation.z,
output.transform.translation.z)
