def test_lookup_transform_core_pass(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=0).to_msg())
buffer_core.set_transform(transform, 'unittest')
lookup_transform = buffer_core.lookup_transform_core(
target_frame='bar', source_frame='foo', time=rclpy.time.Time())
self.assertEqual(transform, lookup_transform)
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_get_latest_common_time(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=0).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')
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=0.5).to_msg())
buffer_core.set_transform(transform, 'unittest')
latest_common_time = buffer_core.get_latest_common_time('bar', 'foo')
self.assertEqual(latest_common_time, rclpy.time.Time(seconds=1))
def test_all_frames_as_string(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo', rclpy.time.Time().to_msg())
buffer_core.set_transform(transform, 'unittest')
self.assertTrue(type(buffer_core.all_frames_as_string()) == str)
self.assertTrue('foo' in buffer_core.all_frames_as_string())
self.assertTrue('bar' in buffer_core.all_frames_as_string())
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_lookup_transform_core_fail(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo',
rclpy.time.Time(seconds=0).to_msg())
buffer_core.set_transform(transform, 'unittest')
with self.assertRaises(LookupException) as ex:
buffer_core.lookup_transform_core(target_frame='bar',
source_frame='baz',
time=rclpy.time.Time())
self.assertEqual(LookupException, type(ex.exception))
def test_can_transform_full_core(self):
buffer_core = BufferCore()
transform = build_transform('bar', 'foo', rclpy.time.Time().to_msg())
buffer_core.set_transform(transform, 'unittest')
transform = build_transform('foo', 'baz', rclpy.time.Time().to_msg())
buffer_core.set_transform(transform, 'unittest')
result, error_msg = buffer_core.can_transform_full_core(
target_frame='foo',
target_time=rclpy.time.Time(),
source_frame='baz',
source_time=rclpy.time.Time(),
fixed_frame='bar')
self.assertEqual(result, 1)
self.assertEqual(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, '')
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)
