transform_listener_unittest.cpp
Go to the documentation of this file.
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 <gtest/gtest.h>
00031 #include <tf/transform_listener.h>
00032 #include <sys/time.h>
00033 
00034 
00035 void seed_rand()
00036 {
00037   //Seed random number generator with current microseond count
00038   timeval temp_time_struct;
00039   gettimeofday(&temp_time_struct,NULL);
00040   srand(temp_time_struct.tv_usec);
00041 };
00042 
00043 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues)
00044 {
00045   seed_rand();
00046   for ( uint64_t i = 0; i < runs ; i++ )
00047   {
00048     xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
00049     yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
00050     zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
00051   }
00052 }
00053 
00054 
00055 using namespace tf;
00056 
00057 
00058 TEST(transform_listener, resolve)
00059 {
00060   ros::NodeHandle n("~");
00061   tf::TransformListener tl; 
00062   
00063   //no prefix
00064   EXPECT_STREQ("id", tl.resolve("id").c_str());
00065   
00066   n.setParam("tf_prefix", "a_tf_prefix");
00067   tf::TransformListener tp; 
00068 
00069   std::string prefix_str = tf::getPrefixParam(n);
00070 
00071   EXPECT_STREQ("a_tf_prefix", prefix_str.c_str());
00072 
00073   EXPECT_STREQ("a_tf_prefix/id", tf::resolve(prefix_str, "id").c_str());
00074 
00075   EXPECT_STREQ("a_tf_prefix/id", tp.resolve("id").c_str());
00076   
00077 
00078 }
00079 
00080 
00081 int main(int argc, char **argv){
00082   testing::InitGoogleTest(&argc, argv);
00083   ros::init(argc, argv, "transform_listener_unittest");
00084   return RUN_ALL_TESTS();
00085 }


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed Jan 3 2018 03:41:26