test_mongo_helpers.h
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 * 00029 */ 00030 00031 #include <geometry_msgs/Pose.h> 00032 #include <tf/transform_datatypes.h> 00033 #include <cstring> 00034 #include <mongo_ros/message_with_metadata.h> 00035 00036 const double TOL=1e-3; 00037 using std::ostream; 00038 00039 namespace geometry_msgs 00040 { 00041 00042 inline 00043 bool operator== (const Pose& p1, const Pose& p2) 00044 { 00045 const Point& pos1 = p1.position; 00046 const Point& pos2 = p2.position; 00047 const Quaternion& q1 = p1.orientation; 00048 const Quaternion& q2 = p2.orientation; 00049 return (pos1.x == pos2.x) && (pos1.y == pos2.y) && (pos1.z == pos2.z) && 00050 (q1.x == q2.x) && (q1.y == q2.y) && (q1.z == q2.z) && (q1.w == q2.w); 00051 } 00052 00053 } 00054 00055 template <class T> 00056 ostream& operator<< (ostream& str, const mongo_ros::MessageWithMetadata<T>& s) 00057 { 00058 const T& msg = s; 00059 str << "Message: " << msg; 00060 str << "\nMetadata: " << s.metadata.toString(); 00061 return str; 00062 } 00063 00064 inline 00065 geometry_msgs::Pose makePose (const double x, const double y, const double theta) 00066 { 00067 geometry_msgs::Pose p; 00068 p.position.x = x; 00069 p.position.y = y; 00070 p.orientation = tf::createQuaternionMsgFromYaw(theta); 00071 return p; 00072 } 00073 00074 using std::string; 00075 00076 bool contains (const string& s1, const string& s2) 00077 { 00078 return strstr(s1.c_str(), s2.c_str())!=NULL; 00079 } 00080