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00033 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
00034 #include <tf2_ros/transform_listener.h>
00035 #include <ros/ros.h>
00036 #include <gtest/gtest.h>
00037 #include <tf2_ros/buffer.h>
00038 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
00039
00040 tf2_ros::Buffer* tf_buffer;
00041 static const double EPS = 1e-3;
00042
00043
00044 TEST(TfGeometry, Frame)
00045 {
00046 geometry_msgs::PoseStamped v1;
00047 v1.pose.position.x = 1;
00048 v1.pose.position.y = 2;
00049 v1.pose.position.z = 3;
00050 v1.pose.orientation.x = 1;
00051 v1.header.stamp = ros::Time(2);
00052 v1.header.frame_id = "A";
00053
00054
00055 geometry_msgs::PoseStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00056 EXPECT_NEAR(v_simple.pose.position.x, -9, EPS);
00057 EXPECT_NEAR(v_simple.pose.position.y, 18, EPS);
00058 EXPECT_NEAR(v_simple.pose.position.z, 27, EPS);
00059 EXPECT_NEAR(v_simple.pose.orientation.x, 0.0, EPS);
00060 EXPECT_NEAR(v_simple.pose.orientation.y, 0.0, EPS);
00061 EXPECT_NEAR(v_simple.pose.orientation.z, 0.0, EPS);
00062 EXPECT_NEAR(v_simple.pose.orientation.w, 1.0, EPS);
00063
00064
00065
00066 geometry_msgs::PoseStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00067 "A", ros::Duration(3.0));
00068 EXPECT_NEAR(v_advanced.pose.position.x, -9, EPS);
00069 EXPECT_NEAR(v_advanced.pose.position.y, 18, EPS);
00070 EXPECT_NEAR(v_advanced.pose.position.z, 27, EPS);
00071 EXPECT_NEAR(v_advanced.pose.orientation.x, 0.0, EPS);
00072 EXPECT_NEAR(v_advanced.pose.orientation.y, 0.0, EPS);
00073 EXPECT_NEAR(v_advanced.pose.orientation.z, 0.0, EPS);
00074 EXPECT_NEAR(v_advanced.pose.orientation.w, 1.0, EPS);
00075 }
00076
00077
00078
00079 TEST(TfGeometry, Vector)
00080 {
00081 geometry_msgs::Vector3Stamped v1, res;
00082 v1.vector.x = 1;
00083 v1.vector.y = 2;
00084 v1.vector.z = 3;
00085 v1.header.stamp = ros::Time(2.0);
00086 v1.header.frame_id = "A";
00087
00088
00089 geometry_msgs::Vector3Stamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00090 EXPECT_NEAR(v_simple.vector.x, 1, EPS);
00091 EXPECT_NEAR(v_simple.vector.y, -2, EPS);
00092 EXPECT_NEAR(v_simple.vector.z, -3, EPS);
00093
00094
00095 geometry_msgs::Vector3Stamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00096 "A", ros::Duration(3.0));
00097 EXPECT_NEAR(v_advanced.vector.x, 1, EPS);
00098 EXPECT_NEAR(v_advanced.vector.y, -2, EPS);
00099 EXPECT_NEAR(v_advanced.vector.z, -3, EPS);
00100 }
00101
00102
00103 TEST(TfGeometry, Point)
00104 {
00105 geometry_msgs::PointStamped v1, res;
00106 v1.point.x = 1;
00107 v1.point.y = 2;
00108 v1.point.z = 3;
00109 v1.header.stamp = ros::Time(2.0);
00110 v1.header.frame_id = "A";
00111
00112
00113 geometry_msgs::PointStamped v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00114 EXPECT_NEAR(v_simple.point.x, -9, EPS);
00115 EXPECT_NEAR(v_simple.point.y, 18, EPS);
00116 EXPECT_NEAR(v_simple.point.z, 27, EPS);
00117
00118
00119 geometry_msgs::PointStamped v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00120 "A", ros::Duration(3.0));
00121 EXPECT_NEAR(v_advanced.point.x, -9, EPS);
00122 EXPECT_NEAR(v_advanced.point.y, 18, EPS);
00123 EXPECT_NEAR(v_advanced.point.z, 27, EPS);
00124 }
00125
00126
00127 int main(int argc, char **argv){
00128 testing::InitGoogleTest(&argc, argv);
00129 ros::init(argc, argv, "test");
00130 ros::NodeHandle n;
00131
00132 tf_buffer = new tf2_ros::Buffer();
00133
00134
00135 geometry_msgs::TransformStamped t;
00136 t.transform.translation.x = 10;
00137 t.transform.translation.y = 20;
00138 t.transform.translation.z = 30;
00139 t.transform.rotation.x = 1;
00140 t.header.stamp = ros::Time(2.0);
00141 t.header.frame_id = "A";
00142 t.child_frame_id = "B";
00143 tf_buffer->setTransform(t, "test");
00144
00145 bool ret = RUN_ALL_TESTS();
00146 delete tf_buffer;
00147 return ret;
00148 }
00149
00150
00151
00152
00153