test_kdl_tf.cpp
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00001 /*
00002  * Copyright (c) 2009, 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 <time.h>
00031 #include <tf_conversions/tf_kdl.h>
00032 #include <gtest/gtest.h>
00033 
00034 using namespace tf;
00035 
00036 double gen_rand(double min, double max)
00037 {
00038   int rand_num = rand()%100+1;
00039   double result = min + (double)((max-min)*rand_num)/101.0;
00040   return result;
00041 }
00042 
00043 TEST(TFKDLConversions, tf_kdl_vector)
00044 {
00045   tf::Vector3 t;
00046   t[0] = gen_rand(-10,10);
00047   t[1] = gen_rand(-10,10);
00048   t[2] = gen_rand(-10,10);
00049 
00050   KDL::Vector k;
00051   VectorTFToKDL(t,k);
00052 
00053   ASSERT_NEAR(t[0],k[0],1e-6);
00054   ASSERT_NEAR(t[1],k[1],1e-6);
00055   ASSERT_NEAR(t[2],k[2],1e-6);
00056 }
00057 
00058 TEST(TFKDLConversions, tf_kdl_rotation)
00059 {
00060   tf::Quaternion t;
00061   t[0] = gen_rand(-1.0,1.0);
00062   t[1] = gen_rand(-1.0,1.0);
00063   t[2] = gen_rand(-1.0,1.0);
00064   t[3] = gen_rand(-1.0,1.0);
00065   t.normalize();
00066 
00067   KDL::Rotation k;
00068   RotationTFToKDL(t,k);
00069 
00070   double x,y,z,w;
00071   k.GetQuaternion(x,y,z,w);
00072 
00073   ASSERT_NEAR(fabs(t[0]),fabs(x),1e-6);
00074   ASSERT_NEAR(fabs(t[1]),fabs(y),1e-6);
00075   ASSERT_NEAR(fabs(t[2]),fabs(z),1e-6);
00076   ASSERT_NEAR(fabs(t[3]),fabs(w),1e-6);
00077   ASSERT_NEAR(t[0]*t[1]*t[2]*t[3],x*y*z*w,1e-6);
00078 
00079   
00080 }
00081 
00082 TEST(TFKDLConversions, tf_kdl_transform)
00083 {
00084   tf::Transform t;
00085   tf::Quaternion tq;
00086   tq[0] = gen_rand(-1.0,1.0);
00087   tq[1] = gen_rand(-1.0,1.0);
00088   tq[2] = gen_rand(-1.0,1.0);
00089   tq[3] = gen_rand(-1.0,1.0);
00090   tq.normalize();
00091   t.setOrigin(tf::Vector3(gen_rand(-10,10),gen_rand(-10,10),gen_rand(-10,10)));
00092   t.setRotation(tq);
00093 
00094   //test tf->kdl
00095   KDL::Frame k;
00096   TransformTFToKDL(t,k);
00097 
00098   for(int i=0; i < 3; i++)
00099   {
00100     ASSERT_NEAR(t.getOrigin()[i],k.p[i],1e-6);
00101     for(int j=0; j < 3; j++)
00102     {      
00103       ASSERT_NEAR(t.getBasis()[i][j],k.M(i,j),1e-6);
00104     }
00105   }
00106   //test kdl->tf
00107   tf::Transform r;
00108   TransformKDLToTF(k,r);
00109 
00110   for(int i=0; i< 3; i++)
00111   {
00112     ASSERT_NEAR(t.getOrigin()[i],r.getOrigin()[i],1e-6);
00113     for(int j=0; j < 3; j++)
00114     {
00115       ASSERT_NEAR(t.getBasis()[i][j],r.getBasis()[i][j],1e-6);
00116     }
00117 
00118   }  
00119 }
00120 
00121 TEST(TFKDLConversions, tf_kdl_pose)
00122 {
00123   tf::Pose t;
00124   tf::Quaternion tq;
00125   tq[0] = gen_rand(-1.0,1.0);
00126   tq[1] = gen_rand(-1.0,1.0);
00127   tq[2] = gen_rand(-1.0,1.0);
00128   tq[3] = gen_rand(-1.0,1.0);
00129   tq.normalize();
00130   t.setOrigin(tf::Vector3(gen_rand(-10,10),gen_rand(-10,10),gen_rand(-10,10)));
00131   t.setRotation(tq);
00132 
00133   //test tf->kdl                                                                                                              
00134   KDL::Frame k;
00135   PoseTFToKDL(t,k);
00136 
00137   for(int i=0; i < 3; i++)
00138   {
00139     ASSERT_NEAR(t.getOrigin()[i],k.p[i],1e-6);
00140     for(int j=0; j < 3; j++)
00141     {
00142       ASSERT_NEAR(t.getBasis()[i][j],k.M(i,j),1e-6);
00143     }
00144   }
00145 
00146   //test kdl->tf                                                                                                              
00147   tf::Pose r;
00148   PoseKDLToTF(k,r);
00149 
00150   for(int i=0; i< 3; i++)
00151   {
00152     ASSERT_NEAR(t.getOrigin()[i],r.getOrigin()[i],1e-6);
00153     for(int j=0; j < 3; j++)
00154     {
00155       ASSERT_NEAR(t.getBasis()[i][j],r.getBasis()[i][j],1e-6);
00156     }
00157 
00158   }
00159 }
00160 
00161 TEST(TFKDLConversions, msg_kdl_twist)
00162 {
00163   geometry_msgs::Twist m;
00164   m.linear.x = gen_rand(-10,10);
00165   m.linear.y = gen_rand(-10,10);
00166   m.linear.z = gen_rand(-10,10);
00167   m.angular.x = gen_rand(-10,10);
00168   m.angular.y = gen_rand(-10,10);
00169   m.angular.y = gen_rand(-10,10);
00170 
00171   //test msg->kdl 
00172   KDL::Twist t;
00173   TwistMsgToKDL(m,t);
00174 
00175   ASSERT_NEAR(m.linear.x,t.vel[0],1e-6);
00176   ASSERT_NEAR(m.linear.y,t.vel[1],1e-6);
00177   ASSERT_NEAR(m.linear.z,t.vel[2],1e-6);
00178   ASSERT_NEAR(m.angular.x,t.rot[0],1e-6);
00179   ASSERT_NEAR(m.angular.y,t.rot[1],1e-6);
00180   ASSERT_NEAR(m.angular.z,t.rot[2],1e-6);
00181 
00182 
00183   //test msg->kdl                                                                                                             
00184   geometry_msgs::Twist r;
00185   TwistKDLToMsg(t,r);
00186 
00187   ASSERT_NEAR(r.linear.x,t.vel[0],1e-6);
00188   ASSERT_NEAR(r.linear.y,t.vel[1],1e-6);
00189   ASSERT_NEAR(r.linear.z,t.vel[2],1e-6);
00190   ASSERT_NEAR(r.angular.x,t.rot[0],1e-6);
00191   ASSERT_NEAR(r.angular.y,t.rot[1],1e-6);
00192   ASSERT_NEAR(r.angular.z,t.rot[2],1e-6);
00193 
00194 }
00195 
00196 
00197 
00198 int main(int argc, char **argv){
00199 /* initialize random seed: */
00200   srand ( time(NULL) );
00201   testing::InitGoogleTest(&argc, argv);
00202   return RUN_ALL_TESTS();
00203 }


tf_conversions
Author(s): Tully Foote
autogenerated on Mon Oct 6 2014 00:18:24