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Commit 87a026c2 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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extended API for moving between frames

parent 085bdfde
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1 merge request!443Resolve "Work on const / non-const in wolf base classes"
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include/core/frame/frame_base.h
+ 4
− 4
View file @ 87a026c2
...@@ -122,10 +122,10 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha ...@@ -122,10 +122,10 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
TrajectoryBaseConstPtr getTrajectory() const; TrajectoryBaseConstPtr getTrajectory() const;
TrajectoryBasePtr getTrajectory(); TrajectoryBasePtr getTrajectory();
FrameBaseConstPtr getPreviousFrame() const; FrameBaseConstPtr getPreviousFrame(const unsigned int& i = 1) const;
FrameBaseConstPtr getNextFrame() const; FrameBaseConstPtr getNextFrame(const unsigned int& i = 1) const;
FrameBasePtr getPreviousFrame(); FrameBasePtr getPreviousFrame(const unsigned int& i = 1);
FrameBasePtr getNextFrame(); FrameBasePtr getNextFrame(const unsigned int& i = 1);
CaptureBaseConstPtrList getCaptureList() const; CaptureBaseConstPtrList getCaptureList() const;
CaptureBasePtrList getCaptureList(); CaptureBasePtrList getCaptureList();
......
include/core/trajectory/trajectory_base.h
+ 4
− 4
View file @ 87a026c2
...@@ -59,10 +59,10 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj ...@@ -59,10 +59,10 @@ class TrajectoryBase : public NodeBase, public std::enable_shared_from_this<Traj
FrameBasePtr getLastFrame(); FrameBasePtr getLastFrame();
FrameBaseConstPtr getFirstFrame() const; FrameBaseConstPtr getFirstFrame() const;
FrameBasePtr getFirstFrame(); FrameBasePtr getFirstFrame();
FrameBaseConstPtr getNextFrame(FrameBaseConstPtr) const; FrameBaseConstPtr getNextFrame(FrameBaseConstPtr, const unsigned int& i = 1) const;
FrameBasePtr getNextFrame(FrameBasePtr); FrameBasePtr getNextFrame(FrameBasePtr, const unsigned int& i = 1);
FrameBaseConstPtr getPreviousFrame(FrameBaseConstPtr) const; FrameBaseConstPtr getPreviousFrame(FrameBaseConstPtr, const unsigned int& i = 1) const;
FrameBasePtr getPreviousFrame(FrameBasePtr); FrameBasePtr getPreviousFrame(FrameBasePtr, const unsigned int& i = 1);
TimeStamp closestTimeStampToTimeStamp(const TimeStamp& _ts) const; TimeStamp closestTimeStampToTimeStamp(const TimeStamp& _ts) const;
FrameBaseConstPtr closestFrameToTimeStamp(const TimeStamp& _ts) const; FrameBaseConstPtr closestFrameToTimeStamp(const TimeStamp& _ts) const;
FrameBasePtr closestFrameToTimeStamp(const TimeStamp& _ts); FrameBasePtr closestFrameToTimeStamp(const TimeStamp& _ts);
......
src/frame/frame_base.cpp
+ 8
− 8
View file @ 87a026c2
...@@ -156,32 +156,32 @@ bool FrameBase::getCovariance(Eigen::MatrixXd& _cov) const ...@@ -156,32 +156,32 @@ bool FrameBase::getCovariance(Eigen::MatrixXd& _cov) const
return getProblem()->getFrameCovariance(shared_from_this(), _cov); return getProblem()->getFrameCovariance(shared_from_this(), _cov);
} }
FrameBaseConstPtr FrameBase::getPreviousFrame() const FrameBaseConstPtr FrameBase::getPreviousFrame(const unsigned int& i) const
{ {
assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory"); assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory");
return getTrajectory()->getPreviousFrame(shared_from_this()); return getTrajectory()->getPreviousFrame(shared_from_this(), i);
} }
FrameBasePtr FrameBase::getPreviousFrame() FrameBasePtr FrameBase::getPreviousFrame(const unsigned int& i)
{ {
assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory"); assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory");
return getTrajectory()->getPreviousFrame(shared_from_this()); return getTrajectory()->getPreviousFrame(shared_from_this(), i);
} }
FrameBaseConstPtr FrameBase::getNextFrame() const FrameBaseConstPtr FrameBase::getNextFrame(const unsigned int& i) const
{ {
assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory"); assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory");
return getTrajectory()->getNextFrame(shared_from_this()); return getTrajectory()->getNextFrame(shared_from_this(), i);
} }
FrameBasePtr FrameBase::getNextFrame() FrameBasePtr FrameBase::getNextFrame(const unsigned int& i)
{ {
assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory"); assert(getTrajectory() != nullptr && "This Frame is not linked to any trajectory");
return getTrajectory()->getNextFrame(shared_from_this()); return getTrajectory()->getNextFrame(shared_from_this(), i);
} }
CaptureBasePtr FrameBase::addCapture(CaptureBasePtr _capt_ptr) CaptureBasePtr FrameBase::addCapture(CaptureBasePtr _capt_ptr)
......
src/trajectory/trajectory_base.cpp
+ 17
− 12
View file @ 87a026c2
...@@ -21,6 +21,7 @@ ...@@ -21,6 +21,7 @@
//--------LICENSE_END-------- //--------LICENSE_END--------
#include "core/trajectory/trajectory_base.h" #include "core/trajectory/trajectory_base.h"
#include "core/frame/frame_base.h" #include "core/frame/frame_base.h"
#include <iterator>
namespace wolf { namespace wolf {
...@@ -121,48 +122,52 @@ FrameBasePtr TrajectoryBase::closestFrameToTimeStamp(const TimeStamp& _ts) ...@@ -121,48 +122,52 @@ FrameBasePtr TrajectoryBase::closestFrameToTimeStamp(const TimeStamp& _ts)
return nullptr; return nullptr;
} }
FrameBaseConstPtr TrajectoryBase::getNextFrame(FrameBaseConstPtr _frame) const FrameBaseConstPtr TrajectoryBase::getNextFrame(FrameBaseConstPtr _frame, const unsigned int& i) const
{ {
auto frame_it = frame_const_map_.find(_frame->getTimeStamp()); auto frame_it = frame_const_map_.find(_frame->getTimeStamp());
WOLF_WARN_COND(frame_it == frame_const_map_.end(), "Frame not found in the frame map!"); WOLF_WARN_COND(frame_it == frame_const_map_.end(), "Frame not found in the frame map!");
if (frame_it == frame_const_map_.end() or std::next(frame_it) == frame_const_map_.end()) if (frame_it == frame_const_map_.end() or
std::distance(frame_it, frame_const_map_.end()) <= i)
return nullptr; return nullptr;
return std::next(frame_it)->second; return std::next(frame_it,i)->second;
} }
FrameBasePtr TrajectoryBase::getNextFrame(FrameBasePtr _frame) FrameBasePtr TrajectoryBase::getNextFrame(FrameBasePtr _frame, const unsigned int& i)
{ {
auto frame_it = frame_map_.find(_frame->getTimeStamp()); auto frame_it = frame_map_.find(_frame->getTimeStamp());
WOLF_WARN_COND(frame_it == frame_map_.end(), "Frame not found in the frame map!"); WOLF_WARN_COND(frame_it == frame_map_.end(), "Frame not found in the frame map!");
if (frame_it == frame_map_.end() or std::next(frame_it) == frame_map_.end()) if (frame_it == frame_map_.end() or
std::distance(frame_it, frame_map_.end()) <= i)
return nullptr; return nullptr;
return std::next(frame_it)->second; return std::next(frame_it,i)->second;
} }
FrameBaseConstPtr TrajectoryBase::getPreviousFrame(FrameBaseConstPtr _frame) const FrameBaseConstPtr TrajectoryBase::getPreviousFrame(FrameBaseConstPtr _frame, const unsigned int& i) const
{ {
auto frame_it = frame_const_map_.find(_frame->getTimeStamp()); auto frame_it = frame_const_map_.find(_frame->getTimeStamp());
WOLF_WARN_COND(frame_it == frame_const_map_.end(), "Frame not found in the frame map!"); WOLF_WARN_COND(frame_it == frame_const_map_.end(), "Frame not found in the frame map!");
if (frame_it == frame_const_map_.end() or frame_it == frame_const_map_.begin()) if (frame_it == frame_const_map_.end() or
std::distance(frame_const_map_.begin(), frame_it) < i)
return nullptr; return nullptr;
return std::prev(frame_it)->second; return std::prev(frame_it,i)->second;
} }
FrameBasePtr TrajectoryBase::getPreviousFrame(FrameBasePtr _frame) FrameBasePtr TrajectoryBase::getPreviousFrame(FrameBasePtr _frame, const unsigned int& i)
{ {
auto frame_it = frame_map_.find(_frame->getTimeStamp()); auto frame_it = frame_map_.find(_frame->getTimeStamp());
WOLF_WARN_COND(frame_it == frame_map_.end(), "Frame not found in the frame map!"); WOLF_WARN_COND(frame_it == frame_map_.end(), "Frame not found in the frame map!");
if (frame_it == frame_map_.end() or frame_it == frame_map_.begin()) if (frame_it == frame_map_.end() or
std::distance(frame_map_.begin(), frame_it) < i)
return nullptr; return nullptr;
return std::prev(frame_it)->second; return std::prev(frame_it,i)->second;
} }
......
src/tree_manager/tree_manager_sliding_window_dual_rate.cpp
+ 2
− 4
View file @ 87a026c2
...@@ -46,10 +46,8 @@ void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _frame) ...@@ -46,10 +46,8 @@ void TreeManagerSlidingWindowDualRate::keyFrameCallback(FrameBasePtr _frame)
if (count_frames_ != 0) if (count_frames_ != 0)
{ {
WOLF_DEBUG("TreeManagerSlidingWindow removing the oldest of recent frames"); WOLF_DEBUG("TreeManagerSlidingWindow removing the oldest of recent frames");
FrameBasePtr remove_recent_frame = std::next(getProblem()->getTrajectory()->getFrameMap().rbegin(), FrameBasePtr remove_recent_frame = getProblem()->getTrajectory()->getLastFrame()->getPreviousFrame(params_swdr_->n_frames_recent);
params_swdr_->n_frames_recent)->second; FrameBasePtr keep_recent_frame = remove_recent_frame->getNextFrame();
FrameBasePtr keep_recent_frame = std::next(getProblem()->getTrajectory()->getFrameMap().rbegin(),
params_swdr_->n_frames_recent - 1)->second;
// compose motion captures for all processors motion // compose motion captures for all processors motion
for (auto motion_provider_pair : getProblem()->getMotionProviderMap()) for (auto motion_provider_pair : getProblem()->getMotionProviderMap())
......
test/gtest_frame_base.cpp
+ 218
− 30
View file @ 87a026c2
...@@ -140,25 +140,15 @@ TEST(FrameBase, Frames) ...@@ -140,25 +140,15 @@ TEST(FrameBase, Frames)
intrinsics_odo.k_rot_to_rot = 1; intrinsics_odo.k_rot_to_rot = 1;
auto S = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Vector3d::Zero(), intrinsics_odo); auto S = SensorBase::emplace<SensorOdom2d>(P->getHardware(), Vector3d::Zero(), intrinsics_odo);
auto F0 = FrameBase::emplace<FrameBase>(T, 0, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F0 = FrameBase::emplace<FrameBase>(T, 0, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F1 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F1 = FrameBase::emplace<FrameBase>(T, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F2 = FrameBase::emplace<FrameBase>(T, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F2 = FrameBase::emplace<FrameBase>(T, 2, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F3 = FrameBase::emplace<FrameBase>(T, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F3 = FrameBase::emplace<FrameBase>(T, 3, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F4 = FrameBase::emplace<FrameBase>(T, 4, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F4 = FrameBase::emplace<FrameBase>(T, 4, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F5 = FrameBase::emplace<FrameBase>(T, 5, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F5 = FrameBase::emplace<FrameBase>(T, 5, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F6 = FrameBase::emplace<FrameBase>(T, 6, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F6 = FrameBase::emplace<FrameBase>(T, 6, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F7 = FrameBase::emplace<FrameBase>(T, 7, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F7 = FrameBase::emplace<FrameBase>(T, 7, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F8 = FrameBase::emplace<FrameBase>(T, 8, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F8 = FrameBase::emplace<FrameBase>(T, 8, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
auto F9 = FrameBase::emplace<FrameBase>(T, 9, make_shared<StateBlock>(2), make_shared<StateBlock>(1)); auto F9 = FrameBase::emplace<FrameBase>(T, 9, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
P->print(2,0,0,0);
// tree is now consistent // tree is now consistent
ASSERT_TRUE(P->check(0)); ASSERT_TRUE(P->check(0));
...@@ -180,28 +170,226 @@ TEST(FrameBase, Frames) ...@@ -180,28 +170,226 @@ TEST(FrameBase, Frames)
ASSERT_EQ(F9, T->closestFrameToTimeStamp(9)); ASSERT_EQ(F9, T->closestFrameToTimeStamp(9));
// Next frame // Next frame
EXPECT_EQ(F1->id(), F0->getNextFrame()->id()); EXPECT_EQ(F1, F0->getNextFrame(1));
EXPECT_EQ(F2->id(), F1->getNextFrame()->id()); EXPECT_EQ(F2, F0->getNextFrame(2));
EXPECT_EQ(F3->id(), F2->getNextFrame()->id()); EXPECT_EQ(F3, F0->getNextFrame(3));
EXPECT_EQ(F4->id(), F3->getNextFrame()->id()); EXPECT_EQ(F4, F0->getNextFrame(4));
EXPECT_EQ(F5->id(), F4->getNextFrame()->id()); EXPECT_EQ(F5, F0->getNextFrame(5));
EXPECT_EQ(F6->id(), F5->getNextFrame()->id()); EXPECT_EQ(F6, F0->getNextFrame(6));
EXPECT_EQ(F7->id(), F6->getNextFrame()->id()); EXPECT_EQ(F7, F0->getNextFrame(7));
EXPECT_EQ(F8->id(), F7->getNextFrame()->id()); EXPECT_EQ(F8, F0->getNextFrame(8));
EXPECT_EQ(F9->id(), F8->getNextFrame()->id()); EXPECT_EQ(F9, F0->getNextFrame(9));
EXPECT_EQ(nullptr, F9->getNextFrame()); EXPECT_EQ(nullptr, F0->getNextFrame(10));
EXPECT_EQ(F2, F1->getNextFrame(1));
EXPECT_EQ(F3, F1->getNextFrame(2));
EXPECT_EQ(F4, F1->getNextFrame(3));
EXPECT_EQ(F5, F1->getNextFrame(4));
EXPECT_EQ(F6, F1->getNextFrame(5));
EXPECT_EQ(F7, F1->getNextFrame(6));
EXPECT_EQ(F8, F1->getNextFrame(7));
EXPECT_EQ(F9, F1->getNextFrame(8));
EXPECT_EQ(nullptr, F1->getNextFrame(9));
EXPECT_EQ(nullptr, F1->getNextFrame(10));
EXPECT_EQ(F3, F2->getNextFrame(1));
EXPECT_EQ(F4, F2->getNextFrame(2));
EXPECT_EQ(F5, F2->getNextFrame(3));
EXPECT_EQ(F6, F2->getNextFrame(4));
EXPECT_EQ(F7, F2->getNextFrame(5));
EXPECT_EQ(F8, F2->getNextFrame(6));
EXPECT_EQ(F9, F2->getNextFrame(7));
EXPECT_EQ(nullptr, F2->getNextFrame(8));
EXPECT_EQ(nullptr, F2->getNextFrame(9));
EXPECT_EQ(nullptr, F2->getNextFrame(10));
EXPECT_EQ(F4, F3->getNextFrame(1));
EXPECT_EQ(F5, F3->getNextFrame(2));
EXPECT_EQ(F6, F3->getNextFrame(3));
EXPECT_EQ(F7, F3->getNextFrame(4));
EXPECT_EQ(F8, F3->getNextFrame(5));
EXPECT_EQ(F9, F3->getNextFrame(6));
EXPECT_EQ(nullptr, F3->getNextFrame(7));
EXPECT_EQ(nullptr, F3->getNextFrame(8));
EXPECT_EQ(nullptr, F3->getNextFrame(9));
EXPECT_EQ(nullptr, F3->getNextFrame(10));
EXPECT_EQ(F5, F4->getNextFrame(1));
EXPECT_EQ(F6, F4->getNextFrame(2));
EXPECT_EQ(F7, F4->getNextFrame(3));
EXPECT_EQ(F8, F4->getNextFrame(4));
EXPECT_EQ(F9, F4->getNextFrame(5));
EXPECT_EQ(nullptr, F4->getNextFrame(6));
EXPECT_EQ(nullptr, F4->getNextFrame(7));
EXPECT_EQ(nullptr, F4->getNextFrame(8));
EXPECT_EQ(nullptr, F4->getNextFrame(9));
EXPECT_EQ(nullptr, F4->getNextFrame(10));
EXPECT_EQ(F6, F5->getNextFrame(1));
EXPECT_EQ(F7, F5->getNextFrame(2));
EXPECT_EQ(F8, F5->getNextFrame(3));
EXPECT_EQ(F9, F5->getNextFrame(4));
EXPECT_EQ(nullptr, F5->getNextFrame(5));
EXPECT_EQ(nullptr, F5->getNextFrame(6));
EXPECT_EQ(nullptr, F5->getNextFrame(7));
EXPECT_EQ(nullptr, F5->getNextFrame(8));
EXPECT_EQ(nullptr, F5->getNextFrame(9));
EXPECT_EQ(nullptr, F5->getNextFrame(10));
EXPECT_EQ(F7, F6->getNextFrame(1));
EXPECT_EQ(F8, F6->getNextFrame(2));
EXPECT_EQ(F9, F6->getNextFrame(3));
EXPECT_EQ(nullptr, F6->getNextFrame(4));
EXPECT_EQ(nullptr, F6->getNextFrame(5));
EXPECT_EQ(nullptr, F6->getNextFrame(6));
EXPECT_EQ(nullptr, F6->getNextFrame(7));
EXPECT_EQ(nullptr, F6->getNextFrame(8));
EXPECT_EQ(nullptr, F6->getNextFrame(9));
EXPECT_EQ(nullptr, F6->getNextFrame(10));
EXPECT_EQ(F8, F7->getNextFrame(1));
EXPECT_EQ(F9, F7->getNextFrame(2));
EXPECT_EQ(nullptr, F7->getNextFrame(3));
EXPECT_EQ(nullptr, F7->getNextFrame(4));
EXPECT_EQ(nullptr, F7->getNextFrame(5));
EXPECT_EQ(nullptr, F7->getNextFrame(6));
EXPECT_EQ(nullptr, F7->getNextFrame(7));
EXPECT_EQ(nullptr, F7->getNextFrame(8));
EXPECT_EQ(nullptr, F7->getNextFrame(9));
EXPECT_EQ(nullptr, F7->getNextFrame(10));
EXPECT_EQ(F9, F8->getNextFrame(1));
EXPECT_EQ(nullptr, F8->getNextFrame(2));
EXPECT_EQ(nullptr, F8->getNextFrame(3));
EXPECT_EQ(nullptr, F8->getNextFrame(4));
EXPECT_EQ(nullptr, F8->getNextFrame(5));
EXPECT_EQ(nullptr, F8->getNextFrame(6));
EXPECT_EQ(nullptr, F8->getNextFrame(7));
EXPECT_EQ(nullptr, F8->getNextFrame(8));
EXPECT_EQ(nullptr, F8->getNextFrame(9));
EXPECT_EQ(nullptr, F8->getNextFrame(10));
EXPECT_EQ(nullptr, F9->getNextFrame(1));
EXPECT_EQ(nullptr, F9->getNextFrame(2));
EXPECT_EQ(nullptr, F9->getNextFrame(3));
EXPECT_EQ(nullptr, F9->getNextFrame(4));
EXPECT_EQ(nullptr, F9->getNextFrame(5));
EXPECT_EQ(nullptr, F9->getNextFrame(6));
EXPECT_EQ(nullptr, F9->getNextFrame(7));
EXPECT_EQ(nullptr, F9->getNextFrame(8));
EXPECT_EQ(nullptr, F9->getNextFrame(9));
EXPECT_EQ(nullptr, F9->getNextFrame(10));
// Prev frame // Prev frame
EXPECT_EQ(nullptr, F0->getPreviousFrame()); EXPECT_EQ(F8, F9->getPreviousFrame(1));
EXPECT_EQ(F0, F1->getPreviousFrame()); EXPECT_EQ(F7, F9->getPreviousFrame(2));
EXPECT_EQ(F1, F2->getPreviousFrame()); EXPECT_EQ(F6, F9->getPreviousFrame(3));
EXPECT_EQ(F2, F3->getPreviousFrame()); EXPECT_EQ(F5, F9->getPreviousFrame(4));
EXPECT_EQ(F3, F4->getPreviousFrame()); EXPECT_EQ(F4, F9->getPreviousFrame(5));
EXPECT_EQ(F4, F5->getPreviousFrame()); EXPECT_EQ(F3, F9->getPreviousFrame(6));
EXPECT_EQ(F5, F6->getPreviousFrame()); EXPECT_EQ(F2, F9->getPreviousFrame(7));
EXPECT_EQ(F6, F7->getPreviousFrame()); EXPECT_EQ(F1, F9->getPreviousFrame(8));
EXPECT_EQ(F7, F8->getPreviousFrame()); EXPECT_EQ(F0, F9->getPreviousFrame(9));
EXPECT_EQ(F8, F9->getPreviousFrame()); EXPECT_EQ(nullptr, F9->getPreviousFrame(10));
EXPECT_EQ(F7, F8->getPreviousFrame(1));
EXPECT_EQ(F6, F8->getPreviousFrame(2));
EXPECT_EQ(F5, F8->getPreviousFrame(3));
EXPECT_EQ(F4, F8->getPreviousFrame(4));
EXPECT_EQ(F3, F8->getPreviousFrame(5));
EXPECT_EQ(F2, F8->getPreviousFrame(6));
EXPECT_EQ(F1, F8->getPreviousFrame(7));
EXPECT_EQ(F0, F8->getPreviousFrame(8));
EXPECT_EQ(nullptr, F8->getPreviousFrame(9));
EXPECT_EQ(nullptr, F8->getPreviousFrame(10));
EXPECT_EQ(F6, F7->getPreviousFrame(1));
EXPECT_EQ(F5, F7->getPreviousFrame(2));
EXPECT_EQ(F4, F7->getPreviousFrame(3));
EXPECT_EQ(F3, F7->getPreviousFrame(4));
EXPECT_EQ(F2, F7->getPreviousFrame(5));
EXPECT_EQ(F1, F7->getPreviousFrame(6));
EXPECT_EQ(F0, F7->getPreviousFrame(7));
EXPECT_EQ(nullptr, F7->getPreviousFrame(8));
EXPECT_EQ(nullptr, F7->getPreviousFrame(9));
EXPECT_EQ(nullptr, F7->getPreviousFrame(10));
EXPECT_EQ(F5, F6->getPreviousFrame(1));
EXPECT_EQ(F4, F6->getPreviousFrame(2));
EXPECT_EQ(F3, F6->getPreviousFrame(3));
EXPECT_EQ(F2, F6->getPreviousFrame(4));
EXPECT_EQ(F1, F6->getPreviousFrame(5));
EXPECT_EQ(F0, F6->getPreviousFrame(6));
EXPECT_EQ(nullptr, F6->getPreviousFrame(7));
EXPECT_EQ(nullptr, F6->getPreviousFrame(8));
EXPECT_EQ(nullptr, F6->getPreviousFrame(9));
EXPECT_EQ(nullptr, F6->getPreviousFrame(10));
EXPECT_EQ(F4, F5->getPreviousFrame(1));
EXPECT_EQ(F3, F5->getPreviousFrame(2));
EXPECT_EQ(F2, F5->getPreviousFrame(3));
EXPECT_EQ(F1, F5->getPreviousFrame(4));
EXPECT_EQ(F0, F5->getPreviousFrame(5));
EXPECT_EQ(nullptr, F5->getPreviousFrame(6));
EXPECT_EQ(nullptr, F5->getPreviousFrame(7));
EXPECT_EQ(nullptr, F5->getPreviousFrame(8));
EXPECT_EQ(nullptr, F5->getPreviousFrame(9));
EXPECT_EQ(nullptr, F5->getPreviousFrame(10));
EXPECT_EQ(F3, F4->getPreviousFrame(1));
EXPECT_EQ(F2, F4->getPreviousFrame(2));
EXPECT_EQ(F1, F4->getPreviousFrame(3));
EXPECT_EQ(F0, F4->getPreviousFrame(4));
EXPECT_EQ(nullptr, F4->getPreviousFrame(5));
EXPECT_EQ(nullptr, F4->getPreviousFrame(6));
EXPECT_EQ(nullptr, F4->getPreviousFrame(7));
EXPECT_EQ(nullptr, F4->getPreviousFrame(8));
EXPECT_EQ(nullptr, F4->getPreviousFrame(9));
EXPECT_EQ(nullptr, F4->getPreviousFrame(10));
EXPECT_EQ(F2, F3->getPreviousFrame(1));
EXPECT_EQ(F1, F3->getPreviousFrame(2));
EXPECT_EQ(F0, F3->getPreviousFrame(3));
EXPECT_EQ(nullptr, F3->getPreviousFrame(4));
EXPECT_EQ(nullptr, F3->getPreviousFrame(5));
EXPECT_EQ(nullptr, F3->getPreviousFrame(6));
EXPECT_EQ(nullptr, F3->getPreviousFrame(7));
EXPECT_EQ(nullptr, F3->getPreviousFrame(8));
EXPECT_EQ(nullptr, F3->getPreviousFrame(9));
EXPECT_EQ(nullptr, F3->getPreviousFrame(10));
EXPECT_EQ(F1, F2->getPreviousFrame(1));
EXPECT_EQ(F0, F2->getPreviousFrame(2));
EXPECT_EQ(nullptr, F2->getPreviousFrame(3));
EXPECT_EQ(nullptr, F2->getPreviousFrame(4));
EXPECT_EQ(nullptr, F2->getPreviousFrame(5));
EXPECT_EQ(nullptr, F2->getPreviousFrame(6));
EXPECT_EQ(nullptr, F2->getPreviousFrame(7));
EXPECT_EQ(nullptr, F2->getPreviousFrame(8));
EXPECT_EQ(nullptr, F2->getPreviousFrame(9));
EXPECT_EQ(nullptr, F2->getPreviousFrame(10));
EXPECT_EQ(F0, F1->getPreviousFrame(1));
EXPECT_EQ(nullptr, F1->getPreviousFrame(2));
EXPECT_EQ(nullptr, F1->getPreviousFrame(3));
EXPECT_EQ(nullptr, F1->getPreviousFrame(4));
EXPECT_EQ(nullptr, F1->getPreviousFrame(5));
EXPECT_EQ(nullptr, F1->getPreviousFrame(6));
EXPECT_EQ(nullptr, F1->getPreviousFrame(7));
EXPECT_EQ(nullptr, F1->getPreviousFrame(8));
EXPECT_EQ(nullptr, F1->getPreviousFrame(9));
EXPECT_EQ(nullptr, F1->getPreviousFrame(10));
EXPECT_EQ(nullptr, F0->getPreviousFrame(1));
EXPECT_EQ(nullptr, F0->getPreviousFrame(2));
EXPECT_EQ(nullptr, F0->getPreviousFrame(3));
EXPECT_EQ(nullptr, F0->getPreviousFrame(4));
EXPECT_EQ(nullptr, F0->getPreviousFrame(5));
EXPECT_EQ(nullptr, F0->getPreviousFrame(6));
EXPECT_EQ(nullptr, F0->getPreviousFrame(7));
EXPECT_EQ(nullptr, F0->getPreviousFrame(8));
EXPECT_EQ(nullptr, F0->getPreviousFrame(9));
EXPECT_EQ(nullptr, F0->getPreviousFrame(10));
} }
#include "core/state_block/state_quaternion.h" #include "core/state_block/state_quaternion.h"
......
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