From 73c8512756b930133d75327ec539ce7ae72ca84b Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Sun, 5 Aug 2018 02:43:06 +0200
Subject: [PATCH] trajectory: added time shift test
---
.../RobotAPI/libraries/core/test/TrajectoryTest.cpp | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp b/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
index 3eeb0ae51..579c35d22 100644
--- a/source/RobotAPI/libraries/core/test/TrajectoryTest.cpp
+++ b/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");
+}
--
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