tf_unittest.cpp File Reference

#include <gtest/gtest.h>
#include <tf/tf.h>
#include <sys/time.h>
#include <ros/ros.h>
#include "LinearMath/btVector3.h"
#include "rostest/permuter.h"

Include dependency graph for tf_unittest.cpp:

Go to the source code of this file.

Defines
#define	CHECK_QUATERNION_NEAR(_q1, _q2, _epsilon)   EXPECT_NEAR(_q1.angle(_q2), 0, _epsilon); \
#define	CHECK_TRANSFORMS_NEAR(_out, _expected, _eps)
Functions
bool	expectInvalidQuaternion (geometry_msgs::Quaternion q)
bool	expectInvalidQuaternion (tf::Quaternion q)
bool	expectValidQuaternion (geometry_msgs::Quaternion q)
bool	expectValidQuaternion (tf::Quaternion q)
void	generate_rand_vectors (double scale, uint64_t runs, std::vector< double > &xvalues, std::vector< double > &yvalues, std::vector< double > &zvalues)
int	main (int argc, char **argv)
void	push_back_1 (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)
void	push_back_i (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)
void	push_back_v (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)
void	push_back_y (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)
void	seed_rand ()
void	setupTree (tf::Transformer &mTR, const std::string &mode, const ros::Time &time, const ros::Duration &interpolation_space=ros::Duration())
	TEST (data, StampedOperatorEqual)
	TEST (data, StampedTransformOperatorEqualEqual)
	TEST (data, StampedOperatorEqualEqual)
	TEST (tf, assertQuaternionMsgValid)
	TEST (tf, assertQuaternionValid)
	TEST (tf, getFrameStrings)
	TEST (tf, lookupTransform)
	TEST (tf, canTransform)
	TEST (tf, resolve)
	TEST (tf, frameExists)
	TEST (tf, RepeatedTimes)
	TEST (tf, getLatestCommonTime)
	TEST (tf, ExtrapolationFromOneValue)
	TEST (tf, NoExtrapolationExceptionFromParent)
	TEST (tf, Exceptions)
	TEST (tf, waitForTransform)
	TEST (tf, NO_PARENT_SET)
	TEST (tf, getParent)
	TEST (tf, TransformThroughNO_PARENT)
	TEST (tf, TransformThrougRoot)
	TEST (tf, ListTwoForward)
	TEST (tf, ListOneForward)
	TEST (tf, ListTwoInverse)
	TEST (tf, ListOneInverse)
	TEST (data, PoseStampedConversions)
	TEST (data, TransformConversions)
	TEST (data, QuaternionStampedConversions)
	TEST (data, QuaternionConversions)
	TEST (data, Vector3StampedConversions)
	TEST (data, Vector3Conversions)
	TEST (tf, TransformQuaternionCartesian)
	TEST (tf, TransformVectorCartesian)
	TEST (tf, TransformPointCartesian)
	TEST (tf, TransformTransformToOwnFrame)
	TEST (tf, TransformTransformsCartesian)
	TEST (tf, setTransformNoInsertWithNoParentID)
	TEST (tf, setTransformNoInsertWithNoFrameID)
	TEST (tf, setTransformNoInsertWithNan)
	TEST (tf, setTransformNoInsertOnSelfTransform)
	TEST (tf, lookupTransform_ring45)
	TEST (tf, lookupTransform_helix_configuration)
	TEST (tf, lookupTransform_compount)

---

Define Documentation

#define CHECK_QUATERNION_NEAR	(	_q1,
		_q2,
		_epsilon		)	EXPECT_NEAR(_q1.angle(_q2), 0, _epsilon); \

Definition at line 270 of file tf_unittest.cpp.

#define CHECK_TRANSFORMS_NEAR	(	_out,
		_expected,
		_eps		)

Value:

EXPECT_NEAR(_out.getOrigin().x(), _expected.getOrigin().x(), epsilon);    \
  EXPECT_NEAR(_out.getOrigin().y(), _expected.getOrigin().y(), epsilon);    \
  EXPECT_NEAR(_out.getOrigin().z(), _expected.getOrigin().z(), epsilon);    \
  CHECK_QUATERNION_NEAR(_out.getRotation(),  _expected.getRotation(), _eps);

Definition at line 274 of file tf_unittest.cpp.

---

Function Documentation

bool expectInvalidQuaternion

(

geometry_msgs::Quaternion

q

)

Definition at line 2416 of file tf_unittest.cpp.

bool expectInvalidQuaternion

(

tf::Quaternion

q

)

Definition at line 2383 of file tf_unittest.cpp.

bool expectValidQuaternion

(

geometry_msgs::Quaternion

q

)

Definition at line 2436 of file tf_unittest.cpp.

bool expectValidQuaternion

(

tf::Quaternion

q

)

Definition at line 2403 of file tf_unittest.cpp.

void generate_rand_vectors	(	double	scale,
		uint64_t	runs,
		std::vector< double > &	xvalues,
		std::vector< double > &	yvalues,
		std::vector< double > &	zvalues
	)

Definition at line 49 of file tf_unittest.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 2612 of file tf_unittest.cpp.

void push_back_1	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 148 of file tf_unittest.cpp.

void push_back_i	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 61 of file tf_unittest.cpp.

void push_back_v	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 115 of file tf_unittest.cpp.

void push_back_y	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 83 of file tf_unittest.cpp.

void seed_rand

(

)

Definition at line 41 of file tf_unittest.cpp.

void setupTree	(	tf::Transformer &	mTR,
		const std::string &	mode,
		const ros::Time &	time,
		const ros::Duration &	interpolation_space = ros::Duration()
	)

Standard

Definition at line 157 of file tf_unittest.cpp.

TEST	(	data	,
		StampedOperatorEqual
	)

Definition at line 2598 of file tf_unittest.cpp.

TEST	(	data	,
		StampedTransformOperatorEqualEqual
	)

Definition at line 2552 of file tf_unittest.cpp.

TEST	(	data	,
		StampedOperatorEqualEqual
	)

Definition at line 2525 of file tf_unittest.cpp.

TEST	(	tf	,
		assertQuaternionMsgValid
	)

Definition at line 2486 of file tf_unittest.cpp.

TEST	(	tf	,
		assertQuaternionValid
	)

Definition at line 2450 of file tf_unittest.cpp.

TEST	(	tf	,
		getFrameStrings
	)

Definition at line 2357 of file tf_unittest.cpp.

TEST	(	tf	,
		lookupTransform
	)

Definition at line 2175 of file tf_unittest.cpp.

TEST	(	tf	,
		canTransform
	)

Definition at line 2077 of file tf_unittest.cpp.

TEST	(	tf	,
		resolve
	)

Definition at line 2062 of file tf_unittest.cpp.

TEST	(	tf	,
		frameExists
	)

Definition at line 2012 of file tf_unittest.cpp.

TEST	(	tf	,
		RepeatedTimes
	)

Definition at line 1984 of file tf_unittest.cpp.

TEST	(	tf	,
		getLatestCommonTime
	)

Definition at line 1900 of file tf_unittest.cpp.

TEST	(	tf	,
		ExtrapolationFromOneValue
	)

Definition at line 1817 of file tf_unittest.cpp.

TEST	(	tf	,
		NoExtrapolationExceptionFromParent
	)

Definition at line 1781 of file tf_unittest.cpp.

TEST	(	tf	,
		Exceptions
	)

Definition at line 1617 of file tf_unittest.cpp.

TEST	(	tf	,
		waitForTransform
	)

Definition at line 1563 of file tf_unittest.cpp.

TEST	(	tf	,
		NO_PARENT_SET
	)

Definition at line 1530 of file tf_unittest.cpp.

TEST	(	tf	,
		getParent
	)

Definition at line 1482 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformThroughNO_PARENT
	)

Definition at line 1435 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformThrougRoot
	)

Definition at line 1389 of file tf_unittest.cpp.

TEST	(	tf	,
		ListTwoForward
	)

Definition at line 1343 of file tf_unittest.cpp.

TEST	(	tf	,
		ListOneForward
	)

Definition at line 1299 of file tf_unittest.cpp.

TEST	(	tf	,
		ListTwoInverse
	)

Definition at line 1252 of file tf_unittest.cpp.

TEST	(	tf	,
		ListOneInverse
	)

Definition at line 1208 of file tf_unittest.cpp.

TEST	(	data	,
		PoseStampedConversions
	)

Definition at line 1176 of file tf_unittest.cpp.

TEST	(	data	,
		TransformConversions
	)

Definition at line 1145 of file tf_unittest.cpp.

TEST	(	data	,
		QuaternionStampedConversions
	)

Definition at line 1119 of file tf_unittest.cpp.

TEST	(	data	,
		QuaternionConversions
	)

Definition at line 1094 of file tf_unittest.cpp.

TEST	(	data	,
		Vector3StampedConversions
	)

Definition at line 1070 of file tf_unittest.cpp.

TEST	(	data	,
		Vector3Conversions
	)

Definition at line 1047 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformQuaternionCartesian
	)

Definition at line 999 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformVectorCartesian
	)

Definition at line 951 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformPointCartesian
	)

Definition at line 903 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformTransformToOwnFrame
	)

Make sure that the edge cases of transform the top of the tree to the top of the tree and the leaf of the tree can transform to the leaf of the tree without a lookup exception and accurately

Definition at line 834 of file tf_unittest.cpp.

TEST	(	tf	,
		TransformTransformsCartesian
	)

Definition at line 778 of file tf_unittest.cpp.

TEST	(	tf	,
		setTransformNoInsertWithNoParentID
	)

Definition at line 771 of file tf_unittest.cpp.

TEST	(	tf	,
		setTransformNoInsertWithNoFrameID
	)

Definition at line 764 of file tf_unittest.cpp.

TEST	(	tf	,
		setTransformNoInsertWithNan
	)

Definition at line 752 of file tf_unittest.cpp.

TEST	(	tf	,
		setTransformNoInsertOnSelfTransform
	)

Definition at line 745 of file tf_unittest.cpp.

TEST	(	tf	,
		lookupTransform_ring45
	)

Definition at line 522 of file tf_unittest.cpp.

TEST	(	tf	,
		lookupTransform_helix_configuration
	)

Definition at line 406 of file tf_unittest.cpp.

TEST	(	tf	,
		lookupTransform_compount
	)

Definition at line 282 of file tf_unittest.cpp.