Move tests to common file

pytransform3d/test/test_transform_manager.py

@@ -8,7 +8,8 @@
 from pytransform3d.transformations import (
  random_transform, invert_transform, concat, transform_from_pq,
  transform_from)
-from pytransform3d.transform_manager import TransformManager
+from pytransform3d.transform_manager import (
+ TransformManager, TemporalTransformManager, StaticTransform)
 from pytransform3d import transform_manager
 from numpy.testing import assert_array_almost_equal
 import pytest
@@ -335,3 +336,42 @@ def test_remove_and_add_connection():
  measurement2 = tm.get_transform("a", "e")
 
  assert_array_almost_equal(measurement1, measurement2)
+
+
+def test_temporal_transform():
+ rng = np.random.default_rng(0)
+ A2B = random_transform(rng)
+
+ rng = np.random.default_rng(42)
+ A2C = random_transform(rng)
+
+ tm = TemporalTransformManager()
+
+ tm.add_transform("A", "B", StaticTransform(A2B))
+ tm.add_transform("A", "C", StaticTransform(A2C))
+
+ tm.current_time = 1234.0
+ B2C = tm.get_transform("B", "C")
+
+ C2B = tm.get_transform("C", "B")
+ B2C_2 = invert_transform(C2B)
+ assert_array_almost_equal(B2C, B2C_2)
+
+ B2C_3 = tm.get_transform_at_time("B", "C", 1234.0)
+ assert_array_almost_equal(B2C_2, B2C_3)
+
+
+def test_internals():
+ rng = np.random.default_rng(0)
+ A2B = random_transform(rng)
+
+ rng = np.random.default_rng(42)
+ A2C = random_transform(rng)
+
+ tm = TemporalTransformManager()
+
+ tm.add_transform("A", "B", StaticTransform(A2B))
+ tm.add_transform("A", "C", StaticTransform(A2C))
+
+ tm.remove_transform("A", "C")
+ assert ("A", "C") not in tm.transforms