Classes
TfRoundTripLiveTest
RobotAPI | Components » RobotAPI Components

Test component (not for normal use): verifies TF lookups end to end against a running RobotStateMemory. More...

Classes

class  TfRoundTripLiveTest
 Writes known transforms into the Localization segment and reads them back through the TransformReader, checking interpolation, holding past the newest pose (and the held flag), lookups before the history, the interpolation switches (the default mem.robot_state.interpolateTransforms, overridden by TransformQuery::interpolate in both directions), the time spread and LatestCommonTime, pose gaps, getGlobalPose()'s staleness limit with world -> map exempt, and static transforms (TransformHeader::isStatic) in a branching tree. More...
 

Detailed Description

Test component (not for normal use): verifies TF lookups end to end against a running RobotStateMemory.

It writes test data under its own agent and only logs a verdict. Unlike the unit tests, it is not run by ctest; it is built only with the CMake option RobotAPI_BUILD_ARMEM_TEST_COMPONENTS.