test_tf2_bullet.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 
00033 #include <tf2_bullet/tf2_bullet.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 TEST(TfBullet, Transform)
00043 {
00044   tf2::Stamped<btTransform> v1(btTransform(btQuaternion(1,0,0,0), btVector3(1,2,3)), ros::Time(2.0), "A");
00045 
00046   // simple api
00047   btTransform v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00048   EXPECT_NEAR(v_simple.getOrigin().getX(), -9, EPS);
00049   EXPECT_NEAR(v_simple.getOrigin().getY(), 18, EPS);
00050   EXPECT_NEAR(v_simple.getOrigin().getZ(), 27, EPS);
00051 
00052   // advanced api
00053   btTransform v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00054                                                "B", ros::Duration(3.0));
00055   EXPECT_NEAR(v_advanced.getOrigin().getX(), -9, EPS);
00056   EXPECT_NEAR(v_advanced.getOrigin().getY(), 18, EPS);
00057   EXPECT_NEAR(v_advanced.getOrigin().getZ(), 27, EPS);
00058 }
00059 
00060 
00061 
00062 TEST(TfBullet, Vector)
00063 {
00064   tf2::Stamped<btVector3>  v1(btVector3(1,2,3), ros::Time(2.0), "A");
00065 
00066   // simple api
00067   btVector3 v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00068   EXPECT_NEAR(v_simple.getX(), -9, EPS);
00069   EXPECT_NEAR(v_simple.getY(), 18, EPS);
00070   EXPECT_NEAR(v_simple.getZ(), 27, EPS);
00071 
00072   // advanced api
00073   btVector3 v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00074                                              "B", ros::Duration(3.0));
00075   EXPECT_NEAR(v_advanced.getX(), -9, EPS);
00076   EXPECT_NEAR(v_advanced.getY(), 18, EPS);
00077   EXPECT_NEAR(v_advanced.getZ(), 27, EPS);
00078 }
00079 
00080 TEST(TfBullet, ConvertVector)
00081 {
00082   btVector3 v(1,2,3);
00083 
00084   btVector3 v1 = v;
00085   tf2::convert(v1, v1);
00086 
00087   EXPECT_EQ(v, v1);
00088 
00089   btVector3 v2(3,4,5);
00090   tf2::convert(v1, v2);
00091 
00092   EXPECT_EQ(v, v2);
00093   EXPECT_EQ(v1, v2);
00094 }
00095 
00096 
00097 
00098 int main(int argc, char **argv){
00099   testing::InitGoogleTest(&argc, argv);
00100   ros::init(argc, argv, "test");
00101   ros::NodeHandle n;
00102 
00103   tf_buffer = new tf2::Buffer();
00104 
00105   // populate buffer
00106   geometry_msgs::TransformStamped t;
00107   t.transform.translation.x = 10;
00108   t.transform.translation.y = 20;
00109   t.transform.translation.z = 30;
00110   t.transform.rotation.x = 1;
00111   t.header.stamp = ros::Time(2.0);
00112   t.header.frame_id = "A";
00113   t.child_frame_id = "B";
00114   tf_buffer->setTransform(t, "test");
00115 
00116   bool ret = RUN_ALL_TESTS();
00117   delete tf_buffer;
00118   return ret;
00119 }
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tf2_bullet
Author(s): Wim Meeussen
autogenerated on Mon Feb 11 2013 02:14:20