1 /*
2 * Copyright (C) 2021 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include <gtest/gtest.h>
18
19 #include "PoseRateLimiter.h"
20 #include "QuaternionUtil.h"
21 #include "TestUtil.h"
22
23 namespace android {
24 namespace media {
25 namespace {
26
27 using Eigen::Quaternionf;
28 using Eigen::Vector3f;
29 using Options = PoseRateLimiter::Options;
30
TEST(PoseRateLimiter,Initial)31 TEST(PoseRateLimiter, Initial) {
32 Pose3f target({1, 2, 3}, Quaternionf::UnitRandom());
33 PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 10, .maxRotationalVelocity = 10});
34 limiter.setTarget(target);
35 EXPECT_EQ(limiter.calculatePose(1000), target);
36 }
37
TEST(PoseRateLimiter,UnlimitedZeroTime)38 TEST(PoseRateLimiter, UnlimitedZeroTime) {
39 Pose3f target1({1, 2, 3}, Quaternionf::UnitRandom());
40 Pose3f target2({4, 5, 6}, Quaternionf::UnitRandom());
41 PoseRateLimiter limiter(Options{});
42 limiter.setTarget(target1);
43 EXPECT_EQ(limiter.calculatePose(0), target1);
44 limiter.setTarget(target2);
45 EXPECT_EQ(limiter.calculatePose(0), target2);
46 limiter.setTarget(target1);
47 EXPECT_EQ(limiter.calculatePose(0), target1);
48 }
49
TEST(PoseRateLimiter,Limited)50 TEST(PoseRateLimiter, Limited) {
51 Pose3f pose1({1, 2, 3}, Quaternionf::Identity());
52 Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8));
53 PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});
54 limiter.setTarget(pose2);
55 EXPECT_EQ(limiter.calculatePose(1000), pose2);
56
57 // Rate limiting is inactive. Should track despite the violation.
58 limiter.setTarget(pose1);
59 EXPECT_EQ(limiter.calculatePose(1001), pose1);
60
61 // Enable rate limiting and observe gradual motion from pose1 to pose2.
62 limiter.enable();
63 limiter.setTarget(pose2);
64 EXPECT_EQ(limiter.calculatePose(1002), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));
65 limiter.setTarget(pose2);
66 EXPECT_EQ(limiter.calculatePose(1003), Pose3f({1, 2, 5}, rotateZ(M_PI * 2 / 8)));
67 // Skip a tick.
68 limiter.setTarget(pose2);
69 EXPECT_EQ(limiter.calculatePose(1005), Pose3f({1, 2, 7}, rotateZ(M_PI * 4 / 8)));
70 limiter.setTarget(pose2);
71 EXPECT_EQ(limiter.calculatePose(1006), pose2);
72
73 // We reached the target, so rate limiting should now be disabled.
74 limiter.setTarget(pose1);
75 EXPECT_EQ(limiter.calculatePose(1007), pose1);
76 }
77
TEST(PoseRateLimiter,Reset)78 TEST(PoseRateLimiter, Reset) {
79 Pose3f pose1({1, 2, 3}, Quaternionf::Identity());
80 Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8));
81 PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});
82 limiter.setTarget(pose1);
83 EXPECT_EQ(limiter.calculatePose(1000), pose1);
84
85 // Enable rate limiting and observe gradual motion from pose1 to pose2.
86 limiter.enable();
87 limiter.setTarget(pose2);
88 EXPECT_EQ(limiter.calculatePose(1001), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));
89
90 // Reset the pose and disable rate limiting.
91 limiter.reset(pose2);
92 EXPECT_EQ(limiter.calculatePose(1002), pose2);
93
94 // Rate limiting should now be disabled.
95 limiter.setTarget(pose1);
96 EXPECT_EQ(limiter.calculatePose(1003), pose1);
97 }
98
99 } // namespace
100 } // namespace media
101 } // namespace android
102