Head-tracking library for Immersive Audio
See README.md for details.
Bug: 188502620
Test: atest --host libheadtracking-test
Change-Id: I34201c4780e5e581cc96449bd89863bcbc250783
diff --git a/media/libheadtracking/PoseRateLimiter-test.cpp b/media/libheadtracking/PoseRateLimiter-test.cpp
new file mode 100644
index 0000000..f306183
--- /dev/null
+++ b/media/libheadtracking/PoseRateLimiter-test.cpp
@@ -0,0 +1,101 @@
+/*
+ * Copyright (C) 2021 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <gtest/gtest.h>
+
+#include "PoseRateLimiter.h"
+#include "QuaternionUtil.h"
+#include "TestUtil.h"
+
+namespace android {
+namespace media {
+namespace {
+
+using Eigen::Quaternionf;
+using Eigen::Vector3f;
+using Options = PoseRateLimiter::Options;
+
+TEST(PoseRateLimiter, Initial) {
+ Pose3f target({1, 2, 3}, Quaternionf::UnitRandom());
+ PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 10, .maxRotationalVelocity = 10});
+ limiter.setTarget(target);
+ EXPECT_EQ(limiter.calculatePose(1000), target);
+}
+
+TEST(PoseRateLimiter, UnlimitedZeroTime) {
+ Pose3f target1({1, 2, 3}, Quaternionf::UnitRandom());
+ Pose3f target2({4, 5, 6}, Quaternionf::UnitRandom());
+ PoseRateLimiter limiter(Options{});
+ limiter.setTarget(target1);
+ EXPECT_EQ(limiter.calculatePose(0), target1);
+ limiter.setTarget(target2);
+ EXPECT_EQ(limiter.calculatePose(0), target2);
+ limiter.setTarget(target1);
+ EXPECT_EQ(limiter.calculatePose(0), target1);
+}
+
+TEST(PoseRateLimiter, Limited) {
+ Pose3f pose1({1, 2, 3}, Quaternionf::Identity());
+ Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8));
+ PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});
+ limiter.setTarget(pose2);
+ EXPECT_EQ(limiter.calculatePose(1000), pose2);
+
+ // Rate limiting is inactive. Should track despite the violation.
+ limiter.setTarget(pose1);
+ EXPECT_EQ(limiter.calculatePose(1001), pose1);
+
+ // Enable rate limiting and observe gradual motion from pose1 to pose2.
+ limiter.enable();
+ limiter.setTarget(pose2);
+ EXPECT_EQ(limiter.calculatePose(1002), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));
+ limiter.setTarget(pose2);
+ EXPECT_EQ(limiter.calculatePose(1003), Pose3f({1, 2, 5}, rotateZ(M_PI * 2 / 8)));
+ // Skip a tick.
+ limiter.setTarget(pose2);
+ EXPECT_EQ(limiter.calculatePose(1005), Pose3f({1, 2, 7}, rotateZ(M_PI * 4 / 8)));
+ limiter.setTarget(pose2);
+ EXPECT_EQ(limiter.calculatePose(1006), pose2);
+
+ // We reached the target, so rate limiting should now be disabled.
+ limiter.setTarget(pose1);
+ EXPECT_EQ(limiter.calculatePose(1007), pose1);
+}
+
+TEST(PoseRateLimiter, Reset) {
+ Pose3f pose1({1, 2, 3}, Quaternionf::Identity());
+ Pose3f pose2({1, 2, 8}, rotateZ(M_PI * 5 / 8));
+ PoseRateLimiter limiter(Options{.maxTranslationalVelocity = 1, .maxRotationalVelocity = 10});
+ limiter.setTarget(pose1);
+ EXPECT_EQ(limiter.calculatePose(1000), pose1);
+
+ // Enable rate limiting and observe gradual motion from pose1 to pose2.
+ limiter.enable();
+ limiter.setTarget(pose2);
+ EXPECT_EQ(limiter.calculatePose(1001), Pose3f({1, 2, 4}, rotateZ(M_PI * 1 / 8)));
+
+ // Reset the pose and disable rate limiting.
+ limiter.reset(pose2);
+ EXPECT_EQ(limiter.calculatePose(1002), pose2);
+
+ // Rate limiting should now be disabled.
+ limiter.setTarget(pose1);
+ EXPECT_EQ(limiter.calculatePose(1003), pose1);
+}
+
+} // namespace
+} // namespace media
+} // namespace android