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RSDK-10425 Update tests based on updates to Transform proto #478

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RSDK-10425 Update tests based on updates to Transform proto #478

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22 changes: 12 additions & 10 deletions src/viam/sdk/tests/mocks/mock_robot.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,17 +139,17 @@ std::vector<ResourceName> mock_proto_resource_names_response() {
std::vector<RobotClient::frame_system_config> mock_config_response() {
RobotClient::frame_system_config config;
WorldState::transform t;
t.reference_frame = "some-reference-frame";
pose_in_frame pif("reference0", default_pose());
t.pose_in_observer_frame = pif;
t.name = "some-reference-frame";
t.parent = "some-reference-frame";
t.pose = default_pose();
config.frame = t;
config.kinematics = {{"fake-key", 1.0}};

RobotClient::frame_system_config config1;
WorldState::transform t1;
t1.reference_frame = "another-reference-frame";
pose_in_frame pif1("reference1", default_pose(1));
t1.pose_in_observer_frame = pif1;
t1.name = "another-reference-frame";
t1.parent = "another-reference-frame";
t1.pose = default_pose(1);
config1.frame = t1;
config1.kinematics = {{"new-fake-key", 2.0}};

Expand All @@ -162,12 +162,13 @@ std::vector<RobotClient::frame_system_config> mock_config_response() {
std::vector<FrameSystemConfig> mock_proto_config_response() {
FrameSystemConfig config;
common::v1::Transform t;
*t.mutable_reference_frame() = "some-reference-frame";
*t.mutable_name() = "some-reference-frame";
Pose pose = default_proto_pose();
PoseInFrame pif;
*pif.mutable_reference_frame() = "reference0";
*pif.mutable_pose() = pose;
*t.mutable_pose_in_observer_frame() = pif;
*t.mutable_parent() = "some-reference-frame";
*t.mutable_pose() = pose;
*config.mutable_frame() = t;
google::protobuf::Struct s;
google::protobuf::Value v;
Expand All @@ -178,12 +179,13 @@ std::vector<FrameSystemConfig> mock_proto_config_response() {

FrameSystemConfig config1;
common::v1::Transform t1;
*t1.mutable_reference_frame() = "another-reference-frame";
*t1.mutable_name() = "another-reference-frame";
Pose pose1 = default_proto_pose(1);
PoseInFrame pif1;
*pif1.mutable_reference_frame() = "reference1";
*pif1.mutable_pose() = pose1;
*t1.mutable_pose_in_observer_frame() = pif1;
*t1.mutable_parent() = "another-reference-frame";
*t1.mutable_pose() = pose1;
*config1.mutable_frame() = t1;
google::protobuf::Struct s1;
google::protobuf::Value v1;
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5 changes: 3 additions & 2 deletions src/viam/sdk/tests/test_motion.cpp
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Expand Up @@ -26,8 +26,9 @@ using namespace viam::sdk;

WorldState mock_world_state() {
WorldState::transform transform;
transform.reference_frame = "fake-reference-frame";
transform.pose_in_observer_frame = pose_in_frame("fake", {{2, 3, 4}, {5, 6, 7}, 8});
transform.name = "fake-reference-frame";
transform.parent = "fake-parent-frame";
transform.pose = {{2, 3, 4}, {5, 6, 7}, 8};
WorldState::geometries_in_frame obstacle;
obstacle.reference_frame = "ref";

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28 changes: 14 additions & 14 deletions src/viam/sdk/tests/test_robot.cpp
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Expand Up @@ -114,23 +114,23 @@ BOOST_AUTO_TEST_CASE(test_frame_system_config) {
auto proto1 = protos[0];
auto proto2 = protos[1];

BOOST_CHECK_EQUAL(config1.frame.reference_frame, proto1.frame().reference_frame());
BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.coordinates.x,
proto1.frame().pose_in_observer_frame().pose().x());
BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.orientation.o_x,
proto1.frame().pose_in_observer_frame().pose().o_x());
BOOST_CHECK_EQUAL(config1.frame.pose_in_observer_frame.pose.theta,
proto1.frame().pose_in_observer_frame().pose().theta());
BOOST_CHECK_EQUAL(config1.frame.name, proto1.frame().name());
BOOST_CHECK_EQUAL(config1.frame.pose.coordinates.x,
proto1.frame().pose().x());
BOOST_CHECK_EQUAL(config1.frame.pose.orientation.o_x,
proto1.frame().pose().o_x());
BOOST_CHECK_EQUAL(config1.frame.pose.theta,
proto1.frame().pose().theta());
BOOST_CHECK_EQUAL(to_proto(config1.kinematics).SerializeAsString(),
proto1.kinematics().SerializeAsString());

BOOST_CHECK_EQUAL(config2.frame.reference_frame, proto2.frame().reference_frame());
BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.coordinates.x,
proto2.frame().pose_in_observer_frame().pose().x());
BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.orientation.o_x,
proto2.frame().pose_in_observer_frame().pose().o_x());
BOOST_CHECK_EQUAL(config2.frame.pose_in_observer_frame.pose.theta,
proto2.frame().pose_in_observer_frame().pose().theta());
BOOST_CHECK_EQUAL(config2.frame.name, proto2.frame().name());
BOOST_CHECK_EQUAL(config2.frame.pose.coordinates.x,
proto2.frame().pose().x());
BOOST_CHECK_EQUAL(config2.frame.pose.orientation.o_x,
proto2.frame().pose().o_x());
BOOST_CHECK_EQUAL(config2.frame.pose.theta,
proto2.frame().pose().theta());
BOOST_CHECK_EQUAL(to_proto(config2.kinematics).SerializeAsString(),
proto2.kinematics().SerializeAsString());
});
Expand Down
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