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a/math: Bring the C++ wrapper for relation_history up to parity.

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Also add tests for it too.
This commit is contained in:
Ryan Pavlik 2021-12-10 11:53:23 -06:00 committed by Jakob Bornecrantz
parent ef4550c268
commit 26e5f6eee7
2 changed files with 105 additions and 0 deletions
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18
src/xrt/auxiliary/math/m_relation_history.h
View file

@ -157,6 +157,24 @@ public:
{ {
return m_relation_history_get(mPtr, at_time_ns, out_relation); return m_relation_history_get(mPtr, at_time_ns, out_relation);
} }
/*!
* @copydoc m_relation_history_get_latest
*/
bool
get_latest(uint64_t *out_time_ns, xrt_space_relation *out_relation) noexcept
{
return m_relation_history_get_latest(mPtr, out_time_ns, out_relation);
}
/*!
* @copydoc m_relation_history_get_size
*/
size_t
size() const noexcept
{
return m_relation_history_get_size(mPtr);
}
}; };
} // namespace xrt::auxiliary::math } // namespace xrt::auxiliary::math

87
tests/tests_history_buf.cpp
View file

@ -104,3 +104,90 @@ TEST_CASE("m_relation_history")
m_relation_history_destroy(&rh); m_relation_history_destroy(&rh);
} }
TEST_CASE("RelationHistory")
{
using xrt::auxiliary::math::RelationHistory;
RelationHistory rh;
SECTION("empty buffer")
{
xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
CHECK(rh.get(0, &out_relation) == M_RELATION_HISTORY_RESULT_INVALID);
CHECK(rh.get(1, &out_relation) == M_RELATION_HISTORY_RESULT_INVALID);
}
SECTION("populated buffer")
{
xrt_space_relation relation = XRT_SPACE_RELATION_ZERO;
relation.relation_flags = (xrt_space_relation_flags)(
XRT_SPACE_RELATION_POSITION_TRACKED_BIT | XRT_SPACE_RELATION_POSITION_VALID_BIT |
XRT_SPACE_RELATION_ORIENTATION_TRACKED_BIT | XRT_SPACE_RELATION_ORIENTATION_VALID_BIT |
XRT_SPACE_RELATION_LINEAR_VELOCITY_VALID_BIT);
relation.linear_velocity.x = 1.f;
// arbitrary value
constexpr auto T0 = 20 * (uint64_t)U_TIME_1S_IN_NS;
// one second after T0
constexpr auto T1 = T0 + (uint64_t)U_TIME_1S_IN_NS;
// two seconds after T0
constexpr auto T2 = T1 + (uint64_t)U_TIME_1S_IN_NS;
xrt_space_relation out_relation = XRT_SPACE_RELATION_ZERO;
uint64_t out_time = 0;
CHECK(rh.size() == 0);
CHECK_FALSE(rh.get_latest(&out_time, &out_relation));
CHECK(rh.push(relation, T0));
CHECK(rh.size() == 1);
CHECK(rh.get_latest(&out_time, &out_relation));
CHECK(out_time == T0);
relation.pose.position.x = 1.f;
CHECK(rh.push(relation, T1));
CHECK(rh.size() == 2);
CHECK(rh.get_latest(&out_time, &out_relation));
CHECK(out_time == T1);
relation.pose.position.x = 2.f;
CHECK(rh.push(relation, T2));
CHECK(rh.size() == 3);
CHECK(rh.get_latest(&out_time, &out_relation));
CHECK(out_time == T2);
// Try going back in time: should fail to push, leave state the same
CHECK_FALSE(rh.push(relation, T1));
CHECK(rh.size() == 3);
CHECK(rh.get_latest(&out_time, &out_relation));
CHECK(out_time == T2);
CHECK(rh.get(0, &out_relation) == M_RELATION_HISTORY_RESULT_INVALID);
CHECK(rh.get(T0, &out_relation) == M_RELATION_HISTORY_RESULT_EXACT);
CHECK(out_relation.pose.position.x == 0.f);
CHECK(rh.get(T1, &out_relation) == M_RELATION_HISTORY_RESULT_EXACT);
CHECK(out_relation.pose.position.x == 1.f);
CHECK(rh.get(T2, &out_relation) == M_RELATION_HISTORY_RESULT_EXACT);
CHECK(out_relation.pose.position.x == 2.f);
CHECK(rh.get(T0 - (uint64_t)U_TIME_1S_IN_NS, &out_relation) ==
M_RELATION_HISTORY_RESULT_REVERSE_PREDICTED);
CHECK(out_relation.pose.position.x < 0.f);
CHECK(rh.get((T0 + T1) / 2, &out_relation) == M_RELATION_HISTORY_RESULT_INTERPOLATED);
CHECK(out_relation.pose.position.x > 0.f);
CHECK(out_relation.pose.position.x < 1.f);
CHECK(rh.get((T1 + T2) / 2, &out_relation) == M_RELATION_HISTORY_RESULT_INTERPOLATED);
CHECK(out_relation.pose.position.x > 1.f);
CHECK(out_relation.pose.position.x < 2.f);
CHECK(rh.get(T2 + (uint64_t)U_TIME_1S_IN_NS, &out_relation) == M_RELATION_HISTORY_RESULT_PREDICTED);
CHECK(out_relation.pose.position.x > 2.f);
}
}