diff --git a/media/libheadtracking/PoseRateLimiter-test.cpp b/media/libheadtracking/PoseRateLimiter-test.cpp
new file mode 100644
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+++ 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