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102 lines
3.5 KiB
102 lines
3.5 KiB
/*
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* Copyright (C) 2021 The Android Open Source Project
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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 <gtest/gtest.h>
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#include "PoseRateLimiter.h"
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#include "QuaternionUtil.h"
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#include "TestUtil.h"
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namespace android {
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namespace media {
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namespace {
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using Eigen::Quaternionf;
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using Eigen::Vector3f;
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using Options = PoseRateLimiter::Options;
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TEST(PoseRateLimiter, Initial) {
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Pose3f target({1, 2, 3}, Quaternionf::UnitRandom());
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PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 10, .maxRotationalVelocity = 10});
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limiter.setTarget(target);
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EXPECT_EQ(limiter.calculatePose(1000), target);
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}
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TEST(PoseRateLimiter, UnlimitedZeroTime) {
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Pose3f target1({1, 2, 3}, Quaternionf::UnitRandom());
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Pose3f target2({4, 5, 6}, Quaternionf::UnitRandom());
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PoseRateLimiter limiter(Options{});
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limiter.setTarget(target1);
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EXPECT_EQ(limiter.calculatePose(0), target1);
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limiter.setTarget(target2);
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EXPECT_EQ(limiter.calculatePose(0), target2);
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limiter.setTarget(target1);
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EXPECT_EQ(limiter.calculatePose(0), target1);
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}
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TEST(PoseRateLimiter, Limited) {
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Pose3f pose1({1, 2, 3}, Quaternionf::Identity());
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Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8));
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PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});
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limiter.setTarget(pose2);
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EXPECT_EQ(limiter.calculatePose(1000), pose2);
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// Rate limiting is inactive. Should track despite the violation.
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limiter.setTarget(pose1);
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EXPECT_EQ(limiter.calculatePose(1001), pose1);
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// Enable rate limiting and observe gradual motion from pose1 to pose2.
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limiter.enable();
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limiter.setTarget(pose2);
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EXPECT_EQ(limiter.calculatePose(1002), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));
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limiter.setTarget(pose2);
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EXPECT_EQ(limiter.calculatePose(1003), Pose3f({1, 2, 5}, rotateZ(M_PI * 2 / 8)));
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// Skip a tick.
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limiter.setTarget(pose2);
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EXPECT_EQ(limiter.calculatePose(1005), Pose3f({1, 2, 7}, rotateZ(M_PI * 4 / 8)));
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limiter.setTarget(pose2);
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EXPECT_EQ(limiter.calculatePose(1006), pose2);
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// We reached the target, so rate limiting should now be disabled.
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limiter.setTarget(pose1);
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EXPECT_EQ(limiter.calculatePose(1007), pose1);
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}
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TEST(PoseRateLimiter, Reset) {
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Pose3f pose1({1, 2, 3}, Quaternionf::Identity());
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Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8));
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PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});
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limiter.setTarget(pose1);
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EXPECT_EQ(limiter.calculatePose(1000), pose1);
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// Enable rate limiting and observe gradual motion from pose1 to pose2.
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limiter.enable();
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limiter.setTarget(pose2);
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EXPECT_EQ(limiter.calculatePose(1001), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));
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// Reset the pose and disable rate limiting.
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limiter.reset(pose2);
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EXPECT_EQ(limiter.calculatePose(1002), pose2);
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// Rate limiting should now be disabled.
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limiter.setTarget(pose1);
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EXPECT_EQ(limiter.calculatePose(1003), pose1);
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}
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} // namespace
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} // namespace media
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} // namespace android
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