trajectory: added time shift test

source/RobotAPI/libraries/core/test/TrajectoryTest.cpp

@@ -319,4 +319,17 @@ BOOST_AUTO_TEST_CASE(TrajectoryControllerUnfoldingTest)
 
 }
 
+BOOST_AUTO_TEST_CASE(TrajectoryShiftTimeTest)
+{
+    FloatSeqSeq positions {{ 0, 0, 1 }, { 0, 1, 1 }};
+    TrajectoryPtr traj = new Trajectory(positions, {}, {"joint1", "joint2"});
+    ARMARX_INFO << VAROUT(traj->getDimensionNames());
+    auto startTime = traj->begin()->timestamp;
+    auto shift = 2.0;
+    traj->shiftTime(shift);
+    ARMARX_INFO << "pos: " << traj->begin()->getPosition(0);
+    BOOST_CHECK_LE(std::abs(startTime + shift - traj->begin()->timestamp), 0.0001);
+    ARMARX_INFO << VAROUT(traj->getDimensionNames());
+    BOOST_CHECK_EQUAL(traj->getDimensionNames().at(0), "joint1");
+}