test_convert.cpp

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* Author: Eitan Marder-Eppstein
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#include <gtest/gtest.h>
#include <tf2/convert.h>
#include <tf2_kdl/tf2_kdl.h>
#include <tf2_bullet/tf2_bullet.h>
#include <ros/time.h>

TEST(tf2Convert, kdlToBullet)
{
  double epsilon = 1e-9;

  tf2::Stamped<btVector3> b(btVector3(1,2,3), ros::Time(), "my_frame");

  tf2::Stamped<btVector3> b1 = b;
  tf2::Stamped<KDL::Vector> k1;
  tf2::convert(b1, k1);

  tf2::Stamped<btVector3> b2;
  tf2::convert(k1, b2);

  EXPECT_EQ(b.frame_id_, b2.frame_id_);
  EXPECT_NEAR(b.stamp_.toSec(), b2.stamp_.toSec(), epsilon);
  EXPECT_NEAR(b.x(), b2.x(), epsilon);
  EXPECT_NEAR(b.y(), b2.y(), epsilon);
  EXPECT_NEAR(b.z(), b2.z(), epsilon);


  EXPECT_EQ(b1.frame_id_, b2.frame_id_);
  EXPECT_NEAR(b1.stamp_.toSec(), b2.stamp_.toSec(), epsilon);
  EXPECT_NEAR(b1.x(), b2.x(), epsilon);
  EXPECT_NEAR(b1.y(), b2.y(), epsilon);
  EXPECT_NEAR(b1.z(), b2.z(), epsilon);

} 

int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  return RUN_ALL_TESTS();
}