test_transform_collection.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include <mongo_ros/transform_collection.h>

using std::endl;
using std::cerr;

int main (int argc, char** argv)
{
  ros::init(argc, argv, "test_transform_collection");
  if (argc != 5)
  {
    cerr << "Usage: " << argv[0] << " DB TARGET SOURCE TIME\n";
    return 1;
  }
  mongo_ros::TransformCollection tr(argv[1]);
  
  const double stamp = atof(argv[4]);
  try {
    tf::StampedTransform t = tr.lookupTransform(argv[2], argv[3], stamp);
    tf::Vector3 v = t.getOrigin();
    tf::Quaternion q = t.getRotation();
    cerr << "Transform from " << t.child_frame_id_ << " to " << t.frame_id_ <<
      " at " << t.stamp_;
    cerr << "\n  (" << v.x() << ", " << v.y() << ", " << v.z() << ")\n";
    cerr << "  (" << q.x() << ", " << q.y() << ", " << q.z() << ", " <<
      q.w() << ")\n";
  
  }
  catch (tf::TransformException& e)
  {
    cerr << "Tf exception : " << e.what() << endl;
    return 1;
  }
  
  return 0;
}