#include <gtest/gtest.h>
#include <tf/tf.h>
#include <sys/time.h>
#include <ros/ros.h>
#include "tf/LinearMath/Vector3.h"
#include "rostest/permuter.h"

Include dependency graph for tf_unittest.cpp:

Macros
#define	CHECK_QUATERNION_NEAR(_q1, _q2, _epsilon) EXPECT_NEAR(_q1.angle(_q2), 0, _epsilon); \

#define	CHECK_TRANSFORMS_NEAR(_out, _expected, _eps)

Functions
bool	expectInvalidQuaternion (geometry_msgs::Quaternion q)

bool	expectInvalidQuaternion (tf::Quaternion q)

bool	expectValidQuaternion (geometry_msgs::Quaternion q)

bool	expectValidQuaternion (tf::Quaternion q)

void	generate_rand_vectors (double scale, uint64_t runs, std::vector< double > &xvalues, std::vector< double > &yvalues, std::vector< double > &zvalues)

int	main (int argc, char **argv)

void	push_back_1 (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)

void	push_back_i (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)

void	push_back_v (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)

void	push_back_y (std::vector< std::string > &children, std::vector< std::string > &parents, std::vector< double > &dx, std::vector< double > &dy)

void	seed_rand ()

void	setupTree (tf::Transformer &mTR, const std::string &mode, const ros::Time &time, const ros::Duration &interpolation_space=ros::Duration())

	TEST (data, PoseStampedConversions)

	TEST (data, QuaternionConversions)

	TEST (data, QuaternionStampedConversions)

	TEST (data, StampedOperatorEqual)

	TEST (data, StampedOperatorEqualEqual)

	TEST (data, StampedTransformOperatorEqualEqual)

	TEST (data, TransformConversions)

	TEST (data, Vector3Conversions)

	TEST (data, Vector3StampedConversions)

	TEST (tf, assertQuaternionMsgValid)

	TEST (tf, assertQuaternionValid)

	TEST (tf, canTransform)

	TEST (tf, Exceptions)

	TEST (tf, ExtrapolationFromOneValue)

	TEST (tf, frameExists)

	TEST (tf, getFrameStrings)

	TEST (tf, getParent)

	TEST (tf, ListOneForward)

	TEST (tf, ListOneInverse)

	TEST (tf, ListTwoForward)

	TEST (tf, ListTwoInverse)

	TEST (tf, lookupTransform)

	TEST (tf, lookupTransform_compount)

	TEST (tf, lookupTransform_helix_configuration)

	TEST (tf, lookupTransform_ring45)

	TEST (tf, NO_PARENT_SET)

	TEST (tf, NoExtrapolationExceptionFromParent)

	TEST (tf, RepeatedTimes)

	TEST (tf, setTransformNoInsertOnSelfTransform)

	TEST (tf, setTransformNoInsertWithNan)

	TEST (tf, setTransformNoInsertWithNoFrameID)

	TEST (tf, setTransformNoInsertWithNoParentID)

	TEST (tf, TransformPointCartesian)

	TEST (tf, TransformQuaternionCartesian)

	TEST (tf, TransformThroughNO_PARENT)

	TEST (tf, TransformThrougRoot)

	TEST (tf, TransformTransformsCartesian)

	TEST (tf, TransformTransformToOwnFrame)

	TEST (tf, TransformVectorCartesian)

	TEST (tf, waitForTransform)

Macro Definition Documentation

◆ CHECK_QUATERNION_NEAR

#define CHECK_QUATERNION_NEAR	(	_q1,
		_q2,
		_epsilon
	)	EXPECT_NEAR(_q1.angle(_q2), 0, _epsilon); \

Definition at line 270 of file tf_unittest.cpp.

◆ CHECK_TRANSFORMS_NEAR

#define CHECK_TRANSFORMS_NEAR	(	_out,
		_expected,
		_eps
	)

Value:

  EXPECT_NEAR(_out.getOrigin().x(), _expected.getOrigin().x(), epsilon);    \
  EXPECT_NEAR(_out.getOrigin().y(), _expected.getOrigin().y(), epsilon);    \
  EXPECT_NEAR(_out.getOrigin().z(), _expected.getOrigin().z(), epsilon);    \
  CHECK_QUATERNION_NEAR(_out.getRotation(),  _expected.getRotation(), _eps);

Definition at line 274 of file tf_unittest.cpp.

Function Documentation

◆ expectInvalidQuaternion() [1/2]

bool expectInvalidQuaternion ( geometry_msgs::Quaternion q )

Definition at line 2332 of file tf_unittest.cpp.

◆ expectInvalidQuaternion() [2/2]

bool expectInvalidQuaternion ( tf::Quaternion q )

Definition at line 2299 of file tf_unittest.cpp.

◆ expectValidQuaternion() [1/2]

bool expectValidQuaternion ( geometry_msgs::Quaternion q )

Definition at line 2352 of file tf_unittest.cpp.

◆ expectValidQuaternion() [2/2]

bool expectValidQuaternion ( tf::Quaternion q )

Definition at line 2319 of file tf_unittest.cpp.

◆ generate_rand_vectors()

void generate_rand_vectors	(	double	scale,
		uint64_t	runs,
		std::vector< double > &	xvalues,
		std::vector< double > &	yvalues,
		std::vector< double > &	zvalues
	)

Definition at line 49 of file tf_unittest.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 2562 of file tf_unittest.cpp.

◆ push_back_1()

void push_back_1	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 148 of file tf_unittest.cpp.

◆ push_back_i()

void push_back_i	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 61 of file tf_unittest.cpp.

◆ push_back_v()

void push_back_v	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 115 of file tf_unittest.cpp.

◆ push_back_y()

void push_back_y	(	std::vector< std::string > &	children,
		std::vector< std::string > &	parents,
		std::vector< double > &	dx,
		std::vector< double > &	dy
	)

Definition at line 83 of file tf_unittest.cpp.

◆ seed_rand()

void seed_rand ( )

Definition at line 41 of file tf_unittest.cpp.

◆ setupTree()

void setupTree	(	tf::Transformer &	mTR,
		const std::string &	mode,
		const ros::Time &	time,
		const ros::Duration &	interpolation_space = `ros::Duration()`
	)

Standard

Definition at line 157 of file tf_unittest.cpp.

◆ TEST() [1/40]

TEST	(	data	,
		PoseStampedConversions
	)

Definition at line 1176 of file tf_unittest.cpp.

◆ TEST() [2/40]

TEST	(	data	,
		QuaternionConversions
	)

Definition at line 1094 of file tf_unittest.cpp.

◆ TEST() [3/40]

TEST	(	data	,
		QuaternionStampedConversions
	)

Definition at line 1119 of file tf_unittest.cpp.

◆ TEST() [4/40]

TEST	(	data	,
		StampedOperatorEqual
	)

Definition at line 2548 of file tf_unittest.cpp.

◆ TEST() [5/40]

TEST	(	data	,
		StampedOperatorEqualEqual
	)

Definition at line 2475 of file tf_unittest.cpp.

◆ TEST() [6/40]

TEST	(	data	,
		StampedTransformOperatorEqualEqual
	)

Definition at line 2502 of file tf_unittest.cpp.

◆ TEST() [7/40]

TEST	(	data	,
		TransformConversions
	)

Definition at line 1145 of file tf_unittest.cpp.

◆ TEST() [8/40]

TEST	(	data	,
		Vector3Conversions
	)

Definition at line 1047 of file tf_unittest.cpp.

◆ TEST() [9/40]

TEST	(	data	,
		Vector3StampedConversions
	)

Definition at line 1070 of file tf_unittest.cpp.

◆ TEST() [10/40]

TEST	(	tf	,
		assertQuaternionMsgValid
	)

Definition at line 2419 of file tf_unittest.cpp.

◆ TEST() [11/40]

TEST	(	tf	,
		assertQuaternionValid
	)

Definition at line 2366 of file tf_unittest.cpp.

◆ TEST() [12/40]

TEST	(	tf	,
		canTransform
	)

Definition at line 1991 of file tf_unittest.cpp.

◆ TEST() [13/40]

TEST	(	tf	,
		Exceptions
	)

Definition at line 1623 of file tf_unittest.cpp.

◆ TEST() [14/40]

TEST	(	tf	,
		ExtrapolationFromOneValue
	)

Definition at line 1823 of file tf_unittest.cpp.

◆ TEST() [15/40]

TEST	(	tf	,
		frameExists
	)

Definition at line 1935 of file tf_unittest.cpp.

◆ TEST() [16/40]

TEST	(	tf	,
		getFrameStrings
	)

Definition at line 2273 of file tf_unittest.cpp.

◆ TEST() [17/40]

TEST	(	tf	,
		getParent
	)

Definition at line 1482 of file tf_unittest.cpp.

◆ TEST() [18/40]

TEST	(	tf	,
		ListOneForward
	)

Definition at line 1299 of file tf_unittest.cpp.

◆ TEST() [19/40]

TEST	(	tf	,
		ListOneInverse
	)

Definition at line 1208 of file tf_unittest.cpp.

◆ TEST() [20/40]

TEST	(	tf	,
		ListTwoForward
	)

Definition at line 1343 of file tf_unittest.cpp.

◆ TEST() [21/40]

TEST	(	tf	,
		ListTwoInverse
	)

Definition at line 1252 of file tf_unittest.cpp.

◆ TEST() [22/40]

TEST	(	tf	,
		lookupTransform
	)

Definition at line 2089 of file tf_unittest.cpp.

◆ TEST() [23/40]

TEST	(	tf	,
		lookupTransform_compount
	)

Definition at line 282 of file tf_unittest.cpp.

◆ TEST() [24/40]

TEST	(	tf	,
		lookupTransform_helix_configuration
	)

Definition at line 406 of file tf_unittest.cpp.

◆ TEST() [25/40]

TEST	(	tf	,
		lookupTransform_ring45
	)

Definition at line 522 of file tf_unittest.cpp.

◆ TEST() [26/40]

TEST	(	tf	,
		NO_PARENT_SET
	)

Definition at line 1534 of file tf_unittest.cpp.

◆ TEST() [27/40]

TEST	(	tf	,
		NoExtrapolationExceptionFromParent
	)

Definition at line 1787 of file tf_unittest.cpp.

◆ TEST() [28/40]

TEST	(	tf	,
		RepeatedTimes
	)

Definition at line 1907 of file tf_unittest.cpp.

◆ TEST() [29/40]

TEST	(	tf	,
		setTransformNoInsertOnSelfTransform
	)

Definition at line 745 of file tf_unittest.cpp.

◆ TEST() [30/40]

TEST	(	tf	,
		setTransformNoInsertWithNan
	)

Definition at line 752 of file tf_unittest.cpp.

◆ TEST() [31/40]

TEST	(	tf	,
		setTransformNoInsertWithNoFrameID
	)

Definition at line 764 of file tf_unittest.cpp.

◆ TEST() [32/40]

TEST	(	tf	,
		setTransformNoInsertWithNoParentID
	)

Definition at line 771 of file tf_unittest.cpp.

◆ TEST() [33/40]

TEST	(	tf	,
		TransformPointCartesian
	)

Definition at line 903 of file tf_unittest.cpp.

◆ TEST() [34/40]

TEST	(	tf	,
		TransformQuaternionCartesian
	)

Definition at line 999 of file tf_unittest.cpp.

◆ TEST() [35/40]

TEST	(	tf	,
		TransformThroughNO_PARENT
	)

Definition at line 1435 of file tf_unittest.cpp.

◆ TEST() [36/40]

TEST	(	tf	,
		TransformThrougRoot
	)

Definition at line 1389 of file tf_unittest.cpp.

◆ TEST() [37/40]

TEST	(	tf	,
		TransformTransformsCartesian
	)

Definition at line 778 of file tf_unittest.cpp.

◆ TEST() [38/40]

TEST	(	tf	,
		TransformTransformToOwnFrame
	)

Make sure that the edge cases of transform the top of the tree to the top of the tree and the leaf of the tree can transform to the leaf of the tree without a lookup exception and accurately

Definition at line 834 of file tf_unittest.cpp.

◆ TEST() [39/40]

TEST	(	tf	,
		TransformVectorCartesian
	)

Definition at line 951 of file tf_unittest.cpp.

◆ TEST() [40/40]

TEST	(	tf	,
		waitForTransform
	)

Definition at line 1567 of file tf_unittest.cpp.

Macros

Functions