test_tf2_bullet.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#include <tf2_bullet/tf2_bullet.h>
#include <tf2_ros/transform_listener.h>
#include <ros/ros.h>
#include <gtest/gtest.h>


tf2::Buffer* tf_buffer;
static const double EPS = 1e-3;

TEST(TfBullet, Transform)
{
  tf2::Stamped<btTransform> v1(btTransform(btQuaternion(1,0,0,0), btVector3(1,2,3)), ros::Time(2.0), "A");

  // simple api
  btTransform v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
  EXPECT_NEAR(v_simple.getOrigin().getX(), -9, EPS);
  EXPECT_NEAR(v_simple.getOrigin().getY(), 18, EPS);
  EXPECT_NEAR(v_simple.getOrigin().getZ(), 27, EPS);

  // advanced api
  btTransform v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
                                               "B", ros::Duration(3.0));
  EXPECT_NEAR(v_advanced.getOrigin().getX(), -9, EPS);
  EXPECT_NEAR(v_advanced.getOrigin().getY(), 18, EPS);
  EXPECT_NEAR(v_advanced.getOrigin().getZ(), 27, EPS);
}



TEST(TfBullet, Vector)
{
  tf2::Stamped<btVector3>  v1(btVector3(1,2,3), ros::Time(2.0), "A");

  // simple api
  btVector3 v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
  EXPECT_NEAR(v_simple.getX(), -9, EPS);
  EXPECT_NEAR(v_simple.getY(), 18, EPS);
  EXPECT_NEAR(v_simple.getZ(), 27, EPS);

  // advanced api
  btVector3 v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
                                             "B", ros::Duration(3.0));
  EXPECT_NEAR(v_advanced.getX(), -9, EPS);
  EXPECT_NEAR(v_advanced.getY(), 18, EPS);
  EXPECT_NEAR(v_advanced.getZ(), 27, EPS);
}

TEST(TfBullet, ConvertVector)
{
  btVector3 v(1,2,3);

  btVector3 v1 = v;
  tf2::convert(v1, v1);

  EXPECT_EQ(v, v1);

  btVector3 v2(3,4,5);
  tf2::convert(v1, v2);

  EXPECT_EQ(v, v2);
  EXPECT_EQ(v1, v2);
}



int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test");
  ros::NodeHandle n;

  tf_buffer = new tf2::Buffer();

  // populate buffer
  geometry_msgs::TransformStamped t;
  t.transform.translation.x = 10;
  t.transform.translation.y = 20;
  t.transform.translation.z = 30;
  t.transform.rotation.x = 1;
  t.header.stamp = ros::Time(2.0);
  t.header.frame_id = "A";
  t.child_frame_id = "B";
  tf_buffer->setTransform(t, "test");

  bool ret = RUN_ALL_TESTS();
  delete tf_buffer;
  return ret;
}