test_convert.py
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00001 #! /usr/bin/python
00002 #***********************************************************
00003 #* Software License Agreement (BSD License)
00004 #*
00005 #*  Copyright (c) 2009, Willow Garage, Inc.
00006 #*  All rights reserved.
00007 #*
00008 #*  Redistribution and use in source and binary forms, with or without
00009 #*  modification, are permitted provided that the following conditions
00010 #*  are met:
00011 #*
00012 #*   * Redistributions of source code must retain the above copyright
00013 #*     notice, this list of conditions and the following disclaimer.
00014 #*   * Redistributions in binary form must reproduce the above
00015 #*     copyright notice, this list of conditions and the following
00016 #*     disclaimer in the documentation and/or other materials provided
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00018 #*   * Neither the name of Willow Garage, Inc. nor the names of its
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00020 #*     from this software without specific prior written permission.
00021 #*
00022 #*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 #*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00035 #* Author: Eitan Marder-Eppstein
00036 #***********************************************************
00037 PKG = 'test_tf2'
00038 import roslib; roslib.load_manifest(PKG)
00039 
00040 import sys
00041 import unittest
00042 
00043 import tf2
00044 import tf2_ros
00045 import tf2_geometry_msgs
00046 from geometry_msgs.msg import PointStamped
00047 import rospy
00048 import tf2_kdl
00049 import PyKDL
00050 
00051 class TestConvert(unittest.TestCase):
00052     def test_convert(self):
00053         p = tf2_ros.Stamped(PyKDL.Vector(1, 2, 3), rospy.Time(), 'my_frame')
00054         print p
00055         msg = tf2_ros.convert(p, PointStamped) 
00056         print msg
00057         p2 = tf2_ros.convert(msg, PyKDL.Vector)
00058         print p2
00059         p2[0] = 100
00060         print p
00061         print p2
00062         print p2.header
00063 
00064 if __name__ == '__main__':
00065     import rostest
00066     rostest.unitrun(PKG, 'test_buffer_client', TestConvert)
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test_tf2
Author(s): Tully Foote, Eitan Marder-Eppstein
autogenerated on Mon Aug 19 2013 10:27:20