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Apply ament_uncrustify --reformat (#297)

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Signed-off-by: Sean Kelly <sean@seankelly.dev>
This commit is contained in:
Sean Kelly
2020-08-06 15:28:29 -04:00
committed by GitHub
parent 0ac6810688
commit 63cee139f1
88 changed files with 6019 additions and 5318 deletions
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pcl_ros/src/test/test_tf_message_filter_pcl.cpp
+50 -22
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@@ -58,7 +58,7 @@ typedef pcl::PointCloud<pcl::PointXYZRGBNormal> PCDType;
/// Sets pcl_stamp from stamp, BUT alters stamp
/// a little to round it to millisecond. This is because converting back
/// and forth from pcd to ros time induces some rounding errors.
void setStamp(ros::Time &stamp, std::uint64_t &pcl_stamp)
void setStamp(ros::Time & stamp, std::uint64_t & pcl_stamp)
{
// round to millisecond
static const uint32_t mult = 1e6;
@@ -71,7 +71,7 @@ void setStamp(ros::Time &stamp, std::uint64_t &pcl_stamp)
{
ros::Time t;
pcl_conversions::fromPCL(pcl_stamp, t);
ROS_ASSERT_MSG(t==stamp, "%d/%d vs %d/%d", t.sec, t.nsec, stamp.sec, stamp.nsec);
ROS_ASSERT_MSG(t == stamp, "%d/%d vs %d/%d", t.sec, t.nsec, stamp.sec, stamp.nsec);
}
}
@@ -79,18 +79,18 @@ class Notification
{
public:
Notification(int expected_count)
: count_(0)
, expected_count_(expected_count)
, failure_count_(0)
: count_(0),
expected_count_(expected_count),
failure_count_(0)
{
}
void notify(const PCDType::ConstPtr& message)
void notify(const PCDType::ConstPtr & message)
{
++count_;
}
void failure(const PCDType::ConstPtr& message, FilterFailureReason reason)
void failure(const PCDType::ConstPtr & message, FilterFailureReason reason)
{
++failure_count_;
}
@@ -144,7 +144,11 @@ TEST(MessageFilter, preexistingTransforms)
ros::Time stamp = ros::Time::now();
setStamp(stamp, msg->header.stamp);
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1",
"frame2");
tf_client.setTransform(transform);
msg->header.frame_id = "frame2";
@@ -169,7 +173,11 @@ TEST(MessageFilter, postTransforms)
EXPECT_EQ(0, n.count_);
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1",
"frame2");
tf_client.setTransform(transform);
ros::WallDuration(0.1).sleep();
@@ -190,8 +198,7 @@ TEST(MessageFilter, queueSize)
std::uint64_t pcl_stamp;
setStamp(stamp, pcl_stamp);
for (int i = 0; i < 20; ++i)
{
for (int i = 0; i < 20; ++i) {
PCDType::Ptr msg(new PCDType);
msg->header.stamp = pcl_stamp;
msg->header.frame_id = "frame2";
@@ -202,7 +209,11 @@ TEST(MessageFilter, queueSize)
EXPECT_EQ(0, n.count_);
EXPECT_EQ(10, n.failure_count_);
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1",
"frame2");
tf_client.setTransform(transform);
ros::WallDuration(0.1).sleep();
@@ -224,7 +235,11 @@ TEST(MessageFilter, setTargetFrame)
setStamp(stamp, msg->header.stamp);
msg->header.frame_id = "frame2";
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1000", "frame2");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1000",
"frame2");
tf_client.setTransform(transform);
filter.add(msg);
@@ -249,7 +264,11 @@ TEST(MessageFilter, multipleTargetFrames)
PCDType::Ptr msg(new PCDType);
setStamp(stamp, msg->header.stamp);
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame3");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1",
"frame3");
tf_client.setTransform(transform);
msg->header.frame_id = "frame3";
@@ -283,7 +302,11 @@ TEST(MessageFilter, tolerance)
ros::Time stamp = ros::Time::now();
std::uint64_t pcl_stamp;
setStamp(stamp, pcl_stamp);
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1",
"frame2");
tf_client.setTransform(transform);
PCDType::Ptr msg(new PCDType);
@@ -295,7 +318,7 @@ TEST(MessageFilter, tolerance)
//ros::Time::setNow(ros::Time::now() + ros::Duration(0.1));
transform.stamp_ += offset*1.1;
transform.stamp_ += offset * 1.1;
tf_client.setTransform(transform);
ros::WallDuration(0.1).sleep();
@@ -323,7 +346,11 @@ TEST(MessageFilter, outTheBackFailure)
PCDType::Ptr msg(new PCDType);
setStamp(stamp, msg->header.stamp);
tf::StampedTransform transform(tf::Transform(tf::Quaternion(0,0,0,1), tf::Vector3(1,2,3)), stamp, "frame1", "frame2");
tf::StampedTransform transform(tf::Transform(
tf::Quaternion(0, 0, 0, 1), tf::Vector3(
1, 2,
3)), stamp, "frame1",
"frame2");
tf_client.setTransform(transform);
transform.stamp_ = stamp + ros::Duration(10000);
@@ -359,16 +386,17 @@ TEST(MessageFilter, removeCallback)
// TF filters; no data needs to be published
boost::scoped_ptr<tf::TransformListener> tf_listener;
boost::scoped_ptr<tf::MessageFilter<PCDType> > tf_filter;
boost::scoped_ptr<tf::MessageFilter<PCDType>> tf_filter;
spinner.start();
for (int i = 0; i < 3; ++i) {
tf_listener.reset(new tf::TransformListener());
// Have callback fire at high rate to increase chances of race condition
tf_filter.reset(
new tf::MessageFilter<PCDType>(*tf_listener,
"map", 5, threaded_nh,
ros::Duration(0.000001)));
new tf::MessageFilter<PCDType>(
*tf_listener,
"map", 5, threaded_nh,
ros::Duration(0.000001)));
// Sleep and reset; sleeping increases chances of race condition
ros::Duration(0.001).sleep();
@@ -378,7 +406,7 @@ TEST(MessageFilter, removeCallback)
spinner.stop();
}
int main(int argc, char** argv)
int main(int argc, char ** argv)
{
testing::InitGoogleTest(&argc, argv);