test_tf2_geometry_msgs.cpp
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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  *
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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
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00033 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
00034 #include <tf2_ros/transform_listener.h>
00035 #include <ros/ros.h>
00036 #include <gtest/gtest.h>
00037 
00038 
00039 tf2::Buffer* tf_buffer;
00040 static const double EPS = 1e-3;
00041 
00042 
00043 TEST(TfGeometry, Frame)
00044 {
00045   geometry_msgs::PoseStamped v1;
00046   v1.pose.position.x = 1;
00047   v1.pose.position.y = 2;
00048   v1.pose.position.z = 3;
00049   v1.pose.orientation.x = 1;
00050   v1.header.stamp = ros::Time(2);
00051   v1.header.frame_id = "A";
00052 
00053   // simple api
00054   geometry_msgs::PoseStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00055   EXPECT_NEAR(v_simple.pose.position.x, -9, EPS);
00056   EXPECT_NEAR(v_simple.pose.position.y, 18, EPS);
00057   EXPECT_NEAR(v_simple.pose.position.z, 27, EPS);
00058   EXPECT_NEAR(v_simple.pose.orientation.x, 0.0, EPS);
00059   EXPECT_NEAR(v_simple.pose.orientation.y, 0.0, EPS);
00060   EXPECT_NEAR(v_simple.pose.orientation.z, 0.0, EPS);
00061   EXPECT_NEAR(v_simple.pose.orientation.w, 1.0, EPS);
00062   
00063 
00064   // advanced api
00065   geometry_msgs::PoseStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00066                                                               "A", ros::Duration(3.0));
00067   EXPECT_NEAR(v_advanced.pose.position.x, -9, EPS);
00068   EXPECT_NEAR(v_advanced.pose.position.y, 18, EPS);
00069   EXPECT_NEAR(v_advanced.pose.position.z, 27, EPS);
00070   EXPECT_NEAR(v_advanced.pose.orientation.x, 0.0, EPS);
00071   EXPECT_NEAR(v_advanced.pose.orientation.y, 0.0, EPS);
00072   EXPECT_NEAR(v_advanced.pose.orientation.z, 0.0, EPS);
00073   EXPECT_NEAR(v_advanced.pose.orientation.w, 1.0, EPS);
00074 }
00075 
00076 
00077 
00078 TEST(TfGeometry, Vector)
00079 {
00080   geometry_msgs::Vector3Stamped v1, res;
00081   v1.vector.x = 1;
00082   v1.vector.y = 2;
00083   v1.vector.z = 3;
00084   v1.header.stamp = ros::Time(2.0);
00085   v1.header.frame_id = "A";
00086 
00087   // simple api
00088   geometry_msgs::Vector3Stamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00089   EXPECT_NEAR(v_simple.vector.x, 1, EPS);
00090   EXPECT_NEAR(v_simple.vector.y, -2, EPS);
00091   EXPECT_NEAR(v_simple.vector.z, -3, EPS);
00092 
00093   // advanced api
00094   geometry_msgs::Vector3Stamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00095                                                                  "A", ros::Duration(3.0));
00096   EXPECT_NEAR(v_advanced.vector.x, 1, EPS);
00097   EXPECT_NEAR(v_advanced.vector.y, -2, EPS);
00098   EXPECT_NEAR(v_advanced.vector.z, -3, EPS);
00099 }
00100 
00101 
00102 TEST(TfGeometry, Point)
00103 {
00104   geometry_msgs::PointStamped v1, res;
00105   v1.point.x = 1;
00106   v1.point.y = 2;
00107   v1.point.z = 3;
00108   v1.header.stamp = ros::Time(2.0);
00109   v1.header.frame_id = "A";
00110 
00111   // simple api
00112   geometry_msgs::PointStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00113   EXPECT_NEAR(v_simple.point.x, -9, EPS);
00114   EXPECT_NEAR(v_simple.point.y, 18, EPS);
00115   EXPECT_NEAR(v_simple.point.z, 27, EPS);
00116 
00117   // advanced api
00118   geometry_msgs::PointStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00119                                                                  "A", ros::Duration(3.0));
00120   EXPECT_NEAR(v_advanced.point.x, -9, EPS);
00121   EXPECT_NEAR(v_advanced.point.y, 18, EPS);
00122   EXPECT_NEAR(v_advanced.point.z, 27, EPS);
00123 }
00124 
00125 
00126 int main(int argc, char **argv){
00127   testing::InitGoogleTest(&argc, argv);
00128   ros::init(argc, argv, "test");
00129   ros::NodeHandle n;
00130 
00131   tf_buffer = new tf2::Buffer();
00132 
00133   // populate buffer
00134   geometry_msgs::TransformStamped t;
00135   t.transform.translation.x = 10;
00136   t.transform.translation.y = 20;
00137   t.transform.translation.z = 30;
00138   t.transform.rotation.x = 1;
00139   t.header.stamp = ros::Time(2.0);
00140   t.header.frame_id = "A";
00141   t.child_frame_id = "B";
00142   tf_buffer->setTransform(t, "test");
00143 
00144   bool ret = RUN_ALL_TESTS();
00145   delete tf_buffer;
00146   return ret;
00147 }
00148 
00149 
00150 
00151 
00152 
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tf2_geometry_msgs
Author(s): Wim Meeussen
autogenerated on Mon Aug 19 2013 10:27:09