transforms 1.4.1

A transform library to track reference frames and provide transforms between them.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148

use core::time::Duration;

use transforms::{
    errors::TimeError,
    geometry::{Quaternion, Transform, Vector3},
    time::{TimePoint, Timestamp},
    Registry,
};

#[derive(Debug, Clone, Copy, PartialEq, Eq, PartialOrd, Ord)]
struct TestTime(u64);

impl TimePoint for TestTime {
    fn static_timestamp() -> Self {
        Self(u64::MAX)
    }

    fn duration_since(
        self,
        earlier: Self,
    ) -> Result<Duration, TimeError> {
        self.0
            .checked_sub(earlier.0)
            .map(Duration::from_nanos)
            .ok_or(TimeError::DurationUnderflow)
    }

    fn checked_add(
        self,
        rhs: Duration,
    ) -> Result<Self, TimeError> {
        let rhs_ns = rhs
            .as_nanos()
            .try_into()
            .map_err(|_| TimeError::DurationOverflow)?;
        self.0
            .checked_add(rhs_ns)
            .map(Self)
            .ok_or(TimeError::DurationOverflow)
    }

    fn checked_sub(
        self,
        rhs: Duration,
    ) -> Result<Self, TimeError> {
        let rhs_ns = rhs
            .as_nanos()
            .try_into()
            .map_err(|_| TimeError::DurationOverflow)?;
        self.0
            .checked_sub(rhs_ns)
            .map(Self)
            .ok_or(TimeError::DurationUnderflow)
    }

    fn as_seconds(self) -> Result<f64, TimeError> {
        Ok(self.0 as f64 / 1_000_000_000.0)
    }
}

#[test]
fn default_timestamp_api_remains_usable() {
    #[cfg(not(feature = "std"))]
    let mut registry = Registry::new();
    #[cfg(not(feature = "std"))]
    let t = Timestamp::zero();

    #[cfg(feature = "std")]
    let mut registry = Registry::new(Duration::from_secs(10));
    #[cfg(feature = "std")]
    let t = Timestamp::now();

    let transform = Transform {
        translation: Vector3::new(1.0, 2.0, 3.0),
        rotation: Quaternion::identity(),
        timestamp: t,
        parent: "map".into(),
        child: "base".into(),
    };

    registry.add_transform(transform.clone());
    let result = registry.get_transform("map", "base", t).unwrap();
    assert_eq!(result, transform);
}

#[cfg(feature = "std")]
#[test]
fn registry_supports_system_time() {
    use std::time::SystemTime;

    let mut registry = Registry::<SystemTime>::new(Duration::from_secs(10));
    let t0 = SystemTime::UNIX_EPOCH
        .checked_add(Duration::from_secs(1))
        .unwrap();
    let t2 = t0.checked_add(Duration::from_secs(2)).unwrap();
    let t1 = t0.checked_add(Duration::from_secs(1)).unwrap();

    let from = Transform::<SystemTime> {
        translation: Vector3::new(0.0, 0.0, 0.0),
        rotation: Quaternion::identity(),
        timestamp: t0,
        parent: "a".into(),
        child: "b".into(),
    };
    let to = Transform::<SystemTime> {
        translation: Vector3::new(2.0, 0.0, 0.0),
        rotation: Quaternion::identity(),
        timestamp: t2,
        parent: "a".into(),
        child: "b".into(),
    };

    registry.add_transform(from);
    registry.add_transform(to);

    let mid = registry.get_transform("a", "b", t1).unwrap();
    assert_eq!(mid.timestamp, t1);
    assert_eq!(mid.translation, Vector3::new(1.0, 0.0, 0.0));
}

#[test]
fn custom_timestamp_static_policy_is_respected() {
    #[cfg(not(feature = "std"))]
    let mut registry = Registry::<TestTime>::new();
    #[cfg(feature = "std")]
    let mut registry = Registry::<TestTime>::new(Duration::from_secs(10));

    let static_transform = Transform::<TestTime> {
        translation: Vector3::new(1.0, 0.0, 0.0),
        rotation: Quaternion::identity(),
        timestamp: TestTime::static_timestamp(),
        parent: "map".into(),
        child: "sensor".into(),
    };

    registry.add_transform(static_transform.clone());

    let result = registry
        .get_transform("map", "sensor", TestTime(5))
        .unwrap();
    assert_eq!(result, static_transform);
}

#[test]
fn identity_uses_custom_static_timestamp() {
    let identity = Transform::<TestTime>::identity();
    assert_eq!(identity.timestamp, TestTime::static_timestamp());
}