test_tf2_geometry_msgs.cpp

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/*
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#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_listener.h>
#include <ros/ros.h>
#include <gtest/gtest.h>
#include <tf2_ros/buffer.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>

tf2_ros::Buffer* tf_buffer;
static const double EPS = 1e-3;


TEST(TfGeometry, Frame)
{
  geometry_msgs::PoseStamped v1;
  v1.pose.position.x = 1;
  v1.pose.position.y = 2;
  v1.pose.position.z = 3;
  v1.pose.orientation.x = 1;
  v1.header.stamp = ros::Time(2);
  v1.header.frame_id = "A";

  // simple api
  geometry_msgs::PoseStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
  EXPECT_NEAR(v_simple.pose.position.x, -9, EPS);
  EXPECT_NEAR(v_simple.pose.position.y, 18, EPS);
  EXPECT_NEAR(v_simple.pose.position.z, 27, EPS);
  EXPECT_NEAR(v_simple.pose.orientation.x, 0.0, EPS);
  EXPECT_NEAR(v_simple.pose.orientation.y, 0.0, EPS);
  EXPECT_NEAR(v_simple.pose.orientation.z, 0.0, EPS);
  EXPECT_NEAR(v_simple.pose.orientation.w, 1.0, EPS);
  

  // advanced api
  geometry_msgs::PoseStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
                                                              "A", ros::Duration(3.0));
  EXPECT_NEAR(v_advanced.pose.position.x, -9, EPS);
  EXPECT_NEAR(v_advanced.pose.position.y, 18, EPS);
  EXPECT_NEAR(v_advanced.pose.position.z, 27, EPS);
  EXPECT_NEAR(v_advanced.pose.orientation.x, 0.0, EPS);
  EXPECT_NEAR(v_advanced.pose.orientation.y, 0.0, EPS);
  EXPECT_NEAR(v_advanced.pose.orientation.z, 0.0, EPS);
  EXPECT_NEAR(v_advanced.pose.orientation.w, 1.0, EPS);
}

TEST(TfGeometry, Transform)
{
  geometry_msgs::TransformStamped v1;
  v1.transform.translation.x = 1;
  v1.transform.translation.y = 2;
  v1.transform.translation.z = 3;
  v1.transform.rotation.x = 1;
  v1.header.stamp = ros::Time(2);
  v1.header.frame_id = "A";

  // simple api
  geometry_msgs::TransformStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
  EXPECT_NEAR(v_simple.transform.translation.x, -9, EPS);
  EXPECT_NEAR(v_simple.transform.translation.y, 18, EPS);
  EXPECT_NEAR(v_simple.transform.translation.z, 27, EPS);
  EXPECT_NEAR(v_simple.transform.rotation.x, 0.0, EPS);
  EXPECT_NEAR(v_simple.transform.rotation.y, 0.0, EPS);
  EXPECT_NEAR(v_simple.transform.rotation.z, 0.0, EPS);
  EXPECT_NEAR(v_simple.transform.rotation.w, 1.0, EPS);
  

  // advanced api
  geometry_msgs::TransformStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
                                                              "A", ros::Duration(3.0));
  EXPECT_NEAR(v_advanced.transform.translation.x, -9, EPS);
  EXPECT_NEAR(v_advanced.transform.translation.y, 18, EPS);
  EXPECT_NEAR(v_advanced.transform.translation.z, 27, EPS);
  EXPECT_NEAR(v_advanced.transform.rotation.x, 0.0, EPS);
  EXPECT_NEAR(v_advanced.transform.rotation.y, 0.0, EPS);
  EXPECT_NEAR(v_advanced.transform.rotation.z, 0.0, EPS);
  EXPECT_NEAR(v_advanced.transform.rotation.w, 1.0, EPS);
}

TEST(TfGeometry, Vector)
{
  geometry_msgs::Vector3Stamped v1, res;
  v1.vector.x = 1;
  v1.vector.y = 2;
  v1.vector.z = 3;
  v1.header.stamp = ros::Time(2.0);
  v1.header.frame_id = "A";

  // simple api
  geometry_msgs::Vector3Stamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
  EXPECT_NEAR(v_simple.vector.x, 1, EPS);
  EXPECT_NEAR(v_simple.vector.y, -2, EPS);
  EXPECT_NEAR(v_simple.vector.z, -3, EPS);

  // advanced api
  geometry_msgs::Vector3Stamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
                                                                 "A", ros::Duration(3.0));
  EXPECT_NEAR(v_advanced.vector.x, 1, EPS);
  EXPECT_NEAR(v_advanced.vector.y, -2, EPS);
  EXPECT_NEAR(v_advanced.vector.z, -3, EPS);
}


TEST(TfGeometry, Point)
{
  geometry_msgs::PointStamped v1, res;
  v1.point.x = 1;
  v1.point.y = 2;
  v1.point.z = 3;
  v1.header.stamp = ros::Time(2.0);
  v1.header.frame_id = "A";

  // simple api
  geometry_msgs::PointStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
  EXPECT_NEAR(v_simple.point.x, -9, EPS);
  EXPECT_NEAR(v_simple.point.y, 18, EPS);
  EXPECT_NEAR(v_simple.point.z, 27, EPS);

  // advanced api
  geometry_msgs::PointStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
                                                                 "A", ros::Duration(3.0));
  EXPECT_NEAR(v_advanced.point.x, -9, EPS);
  EXPECT_NEAR(v_advanced.point.y, 18, EPS);
  EXPECT_NEAR(v_advanced.point.z, 27, EPS);
}


int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test");
  ros::NodeHandle n;

  tf_buffer = new tf2_ros::Buffer();

  // populate buffer
  geometry_msgs::TransformStamped t;
  t.transform.translation.x = 10;
  t.transform.translation.y = 20;
  t.transform.translation.z = 30;
  t.transform.rotation.x = 1;
  t.header.stamp = ros::Time(2.0);
  t.header.frame_id = "A";
  t.child_frame_id = "B";
  tf_buffer->setTransform(t, "test");

  int ret = RUN_ALL_TESTS();
  delete tf_buffer;
  return ret;
}