testListener.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "tf/transform_listener.h"
00031 #include "ros/ros.h"
00032 
00033 #include <gtest/gtest.h>
00034 
00035 TEST(TransformBroadcaster, single_frame)
00036 {
00037   tf::TransformListener tfl;
00038   EXPECT_TRUE(tfl.waitForTransform("frame1", "frame2", ros::Time(), ros::Duration(2.0)));
00039   
00040 }
00041 
00042 TEST(TransformBroadcaster, multi_frame)
00043 {
00044   tf::TransformListener tfl;
00045   EXPECT_TRUE(tfl.waitForTransform("vframe0", "vframe2", ros::Time(), ros::Duration(2.0)));
00046 
00047 }
00048 
00049 int main(int argc, char ** argv)
00050 {
00051   testing::InitGoogleTest(&argc, argv);
00052 
00053   //Initialize ROS
00054   ros::init(argc, argv, "listener");
00055   ros::NodeHandle nh;
00056 
00057   int ret = RUN_ALL_TESTS();
00058 
00059   return ret;
00060 };
00061 


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Jul 9 2018 02:37:28