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_ros/transform_listener.h> 00032 #include <sys/time.h> 00033 00034 00035 void seed_rand() 00036 { 00037 //Seed random number generator with current microseond count 00038 timeval temp_time_struct; 00039 gettimeofday(&temp_time_struct,NULL); 00040 srand(temp_time_struct.tv_usec); 00041 }; 00042 00043 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues) 00044 { 00045 seed_rand(); 00046 for ( uint64_t i = 0; i < runs ; i++ ) 00047 { 00048 xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00049 yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00050 zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX; 00051 } 00052 } 00053 00054 00055 using namespace tf2; 00056 00057 TEST(tf2_ros_transform, transform_listener) 00058 { 00059 tf2_ros::Buffer buffer; 00060 tf2_ros::TransformListener tfl(buffer); 00061 00062 00063 } 00064 00065 00066 00067 00068 int main(int argc, char **argv){ 00069 testing::InitGoogleTest(&argc, argv); 00070 ros::init(argc, argv, "transform_listener_unittest"); 00071 return RUN_ALL_TESTS(); 00072 }