test_eigen_tf.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
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 *       this software without specific prior written permission.
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#include <time.h>
#include <tf_conversions/tf_eigen.h>
#include <gtest/gtest.h>
 
using namespace tf;
 
double gen_rand(double min, double max)
{
  int rand_num = rand()%100+1;
  double result = min + (double)((max-min)*rand_num)/101.0;
  return result;
}
 
TEST(TFEigenConversions, tf_eigen_vector)
{
  tf::Vector3 t;
  t[0] = gen_rand(-10,10);
  t[1] = gen_rand(-10,10);
  t[2] = gen_rand(-10,10);
 
  Eigen::Vector3d k;
  vectorTFToEigen(t,k);
 
  ASSERT_NEAR(t[0],k[0],1e-6);
  ASSERT_NEAR(t[1],k[1],1e-6);
  ASSERT_NEAR(t[2],k[2],1e-6);
}
 
TEST(TFEigenConversions, tf_eigen_quaternion)
{
  tf::Quaternion t;
  t[0] = gen_rand(-1.0,1.0);
  t[1] = gen_rand(-1.0,1.0);
  t[2] = gen_rand(-1.0,1.0);
  t[3] = gen_rand(-1.0,1.0);
  t.normalize();
  Eigen::Quaterniond k;
  quaternionTFToEigen(t,k);
 
  ASSERT_NEAR(t[0],k.coeffs()(0),1e-6);
  ASSERT_NEAR(t[1],k.coeffs()(1),1e-6);
  ASSERT_NEAR(t[2],k.coeffs()(2),1e-6);
  ASSERT_NEAR(t[3],k.coeffs()(3),1e-6);
  ASSERT_NEAR(k.norm(),1.0,1e-10);
}
 
TEST(TFEigenConversions, tf_eigen_transform)
{
  tf::Transform t;
  tf::Quaternion tq;
  tq[0] = gen_rand(-1.0,1.0);
  tq[1] = gen_rand(-1.0,1.0);
  tq[2] = gen_rand(-1.0,1.0);
  tq[3] = gen_rand(-1.0,1.0);
  tq.normalize();
  t.setOrigin(tf::Vector3(gen_rand(-10,10),gen_rand(-10,10),gen_rand(-10,10)));
  t.setRotation(tq);
 
  Eigen::Affine3d affine;
  Eigen::Isometry3d isometry;
  transformTFToEigen(t, affine);
  transformTFToEigen(t, isometry);
 
  for(int i=0; i < 3; i++)
  {
    ASSERT_NEAR(t.getOrigin()[i],affine.matrix()(i,3),1e-6);
    ASSERT_NEAR(t.getOrigin()[i],isometry.matrix()(i,3),1e-6);
    for(int j=0; j < 3; j++)
    {
      ASSERT_NEAR(t.getBasis()[i][j],affine.matrix()(i,j),1e-6);
      ASSERT_NEAR(t.getBasis()[i][j],isometry.matrix()(i,j),1e-6);
    }
  }
  for (int col = 0 ; col < 3; col ++)
  {
    ASSERT_NEAR(affine.matrix()(3, col), 0, 1e-6);
    ASSERT_NEAR(isometry.matrix()(3, col), 0, 1e-6);
  }
  ASSERT_NEAR(affine.matrix()(3,3), 1, 1e-6);
  ASSERT_NEAR(isometry.matrix()(3,3), 1, 1e-6);
}
 
TEST(TFEigenConversions, eigen_tf_transform)
{
  tf::Transform t1;
  tf::Transform t2;
  Eigen::Affine3d affine;
  Eigen::Isometry3d isometry;
  Eigen::Quaterniond kq;
  kq.coeffs()(0) = gen_rand(-1.0,1.0);
  kq.coeffs()(1) = gen_rand(-1.0,1.0);
  kq.coeffs()(2) = gen_rand(-1.0,1.0);
  kq.coeffs()(3) = gen_rand(-1.0,1.0);
  kq.normalize();
  isometry.setIdentity();
  isometry.translate(Eigen::Vector3d(gen_rand(-10,10),gen_rand(-10,10),gen_rand(-10,10)));
  isometry.rotate(kq);
  affine = isometry;
 
  transformEigenToTF(affine,t1);
  transformEigenToTF(isometry,t2);
  for(int i=0; i < 3; i++)
  {
    ASSERT_NEAR(t1.getOrigin()[i],affine.matrix()(i,3),1e-6);
    ASSERT_NEAR(t2.getOrigin()[i],isometry.matrix()(i,3),1e-6);
    for(int j=0; j < 3; j++)
    {
      ASSERT_NEAR(t1.getBasis()[i][j],affine.matrix()(i,j),1e-6);
      ASSERT_NEAR(t2.getBasis()[i][j],isometry.matrix()(i,j),1e-6);
    }
  }
}
 
 
int main(int argc, char **argv){
/* initialize random seed: */
  srand ( time(NULL) );
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}