test_static_publisher.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  * 
00008  *     * Redistributions of source code must retain the above copyright
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
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <gtest/gtest.h>
00031 #include <tf2/buffer_core.h>
00032 #include "tf2/exceptions.h"
00033 #include <sys/time.h>
00034 #include <ros/ros.h>
00035 #include "rostest/permuter.h"
00036 
00037 #include "tf2_ros/transform_listener.h"
00038 
00039 
00040 TEST(StaticTranformPublsher, a_b_different_times)
00041 {
00042   tf2::Buffer mB;
00043   tf2::TransformListener tfl(mB);
00044   EXPECT_TRUE(mB.canTransform("a", "b", ros::Time(), ros::Duration(1.0)));
00045   EXPECT_TRUE(mB.canTransform("a", "b", ros::Time(100), ros::Duration(1.0)));
00046   EXPECT_TRUE(mB.canTransform("a", "b", ros::Time(1000), ros::Duration(1.0)));
00047 };
00048 
00049 TEST(StaticTranformPublsher, a_c_different_times)
00050 {
00051   tf2::Buffer mB;
00052   tf2::TransformListener tfl(mB);
00053   EXPECT_TRUE(mB.canTransform("a", "c", ros::Time(), ros::Duration(1.0)));
00054   EXPECT_TRUE(mB.canTransform("a", "c", ros::Time(100), ros::Duration(1.0)));
00055   EXPECT_TRUE(mB.canTransform("a", "c", ros::Time(1000), ros::Duration(1.0)));
00056 };
00057 
00058 TEST(StaticTranformPublsher, a_d_different_times)
00059 {
00060   tf2::Buffer mB;
00061   tf2::TransformListener tfl(mB);
00062   geometry_msgs::TransformStamped ts;
00063   ts.transform.rotation.w = 1;
00064   ts.header.frame_id = "c";
00065   ts.header.stamp = ros::Time(10.0);
00066   ts.child_frame_id = "d";
00067   
00068   // make sure listener has populated
00069   EXPECT_TRUE(mB.canTransform("a", "c", ros::Time(), ros::Duration(1.0)));
00070   EXPECT_TRUE(mB.canTransform("a", "c", ros::Time(100), ros::Duration(1.0)));
00071   EXPECT_TRUE(mB.canTransform("a", "c", ros::Time(1000), ros::Duration(1.0)));
00072 
00073 
00074   mB.setTransform(ts, "authority");
00075   //printf("%s\n", mB.allFramesAsString().c_str());
00076   EXPECT_TRUE(mB.canTransform("c", "d", ros::Time(10), ros::Duration(0)));
00077 
00078   EXPECT_TRUE(mB.canTransform("a", "d", ros::Time(), ros::Duration(0)));
00079   EXPECT_FALSE(mB.canTransform("a", "d", ros::Time(1), ros::Duration(0)));
00080   EXPECT_TRUE(mB.canTransform("a", "d", ros::Time(10), ros::Duration(0)));
00081   EXPECT_FALSE(mB.canTransform("a", "d", ros::Time(100), ros::Duration(0)));
00082 
00083 };
00084 
00085 int main(int argc, char **argv){
00086   testing::InitGoogleTest(&argc, argv);
00087   ros::init(argc, argv, "tf_unittest");
00088   return RUN_ALL_TESTS();
00089 }
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test_tf2
Author(s): Tully Foote, Eitan Marder-Eppstein
autogenerated on Mon Feb 11 2013 02:14:30