test_mongo_helpers.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#include <geometry_msgs/Pose.h>
#include <cstring>
#include <mongo_ros/message_with_metadata.h>

const double TOL=1e-3;
using std::ostream;

namespace geometry_msgs
{

inline
bool operator== (const Pose& p1, const Pose& p2)
{
  const Point& pos1 = p1.position;
  const Point& pos2 = p2.position;
  const Quaternion& q1 = p1.orientation;
  const Quaternion& q2 = p2.orientation;
  return (pos1.x == pos2.x) && (pos1.y == pos2.y) && (pos1.z == pos2.z) &&
    (q1.x == q2.x) && (q1.y == q2.y) && (q1.z == q2.z) && (q1.w == q2.w);
}

}

template <class T>
ostream& operator<< (ostream& str, const mongo_ros::MessageWithMetadata<T>& s)
{
  const T& msg = s;
  str << "Message: " << msg;
  str << "\nMetadata: " << s.metadata.toString();
  return str;
}


geometry_msgs::Quaternion createQuaternionMsgFromYaw(double yaw)
{
  geometry_msgs::Quaternion q;
  q.w = cos(yaw/2);
  q.z = sin(yaw/2);
  q.x = 0;
  q.y = 0;
  return q;
}


inline
geometry_msgs::Pose makePose (const double x, const double y, const double theta)
{
  geometry_msgs::Pose p;
  p.position.x = x;
  p.position.y = y;
  p.orientation = createQuaternionMsgFromYaw(theta);
  return p;
}

using std::string;

bool contains (const string& s1, const string& s2)
{
  return strstr(s1.c_str(), s2.c_str())!=NULL;
}