test_transforms.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/transforms/transforms.h>
00038 #include <urdf_parser/urdf_parser.h>
00039 #include <fstream>
00040 #include <gtest/gtest.h>
00041 
00042 TEST(Transforms, Simple)
00043 {
00044   moveit::core::Transforms tf("global");
00045 
00046   Eigen::Affine3d t1;
00047   t1.setIdentity();
00048   t1.translation() = Eigen::Vector3d(10.0, 1.0, 0.0);
00049   tf.setTransform(t1, "some_frame_1");
00050 
00051   Eigen::Affine3d t2(Eigen::Translation3d(10.0, 1.0, 0.0) * Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitY()));
00052   tf.setTransform(t2, "some_frame_2");
00053 
00054   Eigen::Affine3d t3;
00055   t3.setIdentity();
00056   t3.translation() = Eigen::Vector3d(0.0, 1.0, -1.0);
00057   tf.setTransform(t3, "some_frame_3");
00058 
00059   EXPECT_TRUE(tf.isFixedFrame("some_frame_1"));
00060   EXPECT_FALSE(tf.isFixedFrame("base_footprint"));
00061   EXPECT_TRUE(tf.isFixedFrame("global"));
00062 }
00063 
00064 int main(int argc, char** argv)
00065 {
00066   testing::InitGoogleTest(&argc, argv);
00067   return RUN_ALL_TESTS();
00068 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jan 17 2018 03:31:36