64 lines
1.9 KiB
C++
64 lines
1.9 KiB
C++
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/common/rate_timer.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace common {
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namespace {
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TEST(RateTimerTest, ComputeRate) {
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RateTimer<> rate_timer(common::FromSeconds(1.));
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common::Time time = common::FromUniversal(42);
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for (int i = 0; i < 100; ++i) {
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rate_timer.Pulse(time);
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time += common::FromSeconds(0.1);
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}
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EXPECT_NEAR(10., rate_timer.ComputeRate(), 1e-3);
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}
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struct SimulatedClock {
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using rep = std::chrono::steady_clock::rep;
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using period = std::chrono::steady_clock::period;
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using duration = std::chrono::steady_clock::duration;
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using time_point = std::chrono::steady_clock::time_point;
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static constexpr bool is_steady = true;
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static time_point time;
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static time_point now() noexcept { return time; }
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};
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SimulatedClock::time_point SimulatedClock::time;
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TEST(RateTimerTest, ComputeWallTimeRateRatio) {
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common::Time time = common::FromUniversal(42);
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RateTimer<SimulatedClock> rate_timer(common::FromSeconds(1.));
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for (int i = 0; i < 100; ++i) {
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rate_timer.Pulse(time);
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time += common::FromSeconds(0.1);
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SimulatedClock::time +=
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std::chrono::duration_cast<SimulatedClock::duration>(
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std::chrono::duration<double>(0.05));
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}
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EXPECT_NEAR(2., rate_timer.ComputeWallTimeRateRatio(), 1e-3);
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}
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} // namespace
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} // namespace common
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} // namespace cartographer
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