test_convert.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2009, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <gtest/gtest.h>
00038 #include <tf2_ros/buffer_interface.h>
00039 #include <tf2_kdl/tf2_kdl.h>
00040 #include <tf2_bullet/tf2_bullet.h>
00041 #include <ros/ros.h>
00042 
00043 TEST(tf2Convert, kdlToBullet)
00044 {
00045   double epsilon = 1e-9;
00046 
00047   tf2::Stamped<btVector3> b(btVector3(1,2,3), ros::Time(), "my_frame");
00048 
00049   tf2::Stamped<btVector3> b1 = b;
00050   tf2::Stamped<KDL::Vector> k1;
00051   tf2::convert(b1, k1);
00052 
00053   tf2::Stamped<btVector3> b2;
00054   tf2::convert(k1, b2);
00055 
00056   EXPECT_EQ(b.frame_id_, b2.frame_id_);
00057   EXPECT_NEAR(b.stamp_.toSec(), b2.stamp_.toSec(), epsilon);
00058   EXPECT_NEAR(b.x(), b2.x(), epsilon);
00059   EXPECT_NEAR(b.y(), b2.y(), epsilon);
00060   EXPECT_NEAR(b.z(), b2.z(), epsilon);
00061 
00062 
00063   EXPECT_EQ(b1.frame_id_, b2.frame_id_);
00064   EXPECT_NEAR(b1.stamp_.toSec(), b2.stamp_.toSec(), epsilon);
00065   EXPECT_NEAR(b1.x(), b2.x(), epsilon);
00066   EXPECT_NEAR(b1.y(), b2.y(), epsilon);
00067   EXPECT_NEAR(b1.z(), b2.z(), epsilon);
00068 
00069 } 
00070 
00071 int main(int argc, char** argv)
00072 {
00073   testing::InitGoogleTest(&argc, argv);
00074   return RUN_ALL_TESTS();
00075 }
00076 
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test_tf2
Author(s): Tully Foote, Eitan Marder-Eppstein
autogenerated on Mon Feb 11 2013 02:14:30