test_mongo_helpers.h
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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 
00031 #include <geometry_msgs/Pose.h>
00032 #include <cstring>
00033 #include <mongo_ros/message_with_metadata.h>
00034 
00035 const double TOL=1e-3;
00036 using std::ostream;
00037 
00038 namespace geometry_msgs
00039 {
00040 
00041 inline
00042 bool operator== (const Pose& p1, const Pose& p2)
00043 {
00044   const Point& pos1 = p1.position;
00045   const Point& pos2 = p2.position;
00046   const Quaternion& q1 = p1.orientation;
00047   const Quaternion& q2 = p2.orientation;
00048   return (pos1.x == pos2.x) && (pos1.y == pos2.y) && (pos1.z == pos2.z) &&
00049     (q1.x == q2.x) && (q1.y == q2.y) && (q1.z == q2.z) && (q1.w == q2.w);
00050 }
00051 
00052 }
00053 
00054 template <class T>
00055 ostream& operator<< (ostream& str, const mongo_ros::MessageWithMetadata<T>& s)
00056 {
00057   const T& msg = s;
00058   str << "Message: " << msg;
00059   str << "\nMetadata: " << s.metadata.toString();
00060   return str;
00061 }
00062 
00063 
00064 geometry_msgs::Quaternion createQuaternionMsgFromYaw(double yaw)
00065 {
00066   geometry_msgs::Quaternion q;
00067   q.w = cos(yaw/2);
00068   q.z = sin(yaw/2);
00069   q.x = 0;
00070   q.y = 0;
00071   return q;
00072 }
00073 
00074 
00075 inline
00076 geometry_msgs::Pose makePose (const double x, const double y, const double theta)
00077 {
00078   geometry_msgs::Pose p;
00079   p.position.x = x;
00080   p.position.y = y;
00081   p.orientation = createQuaternionMsgFromYaw(theta);
00082   return p;
00083 }
00084 
00085 using std::string;
00086 
00087 bool contains (const string& s1, const string& s2)
00088 {
00089   return strstr(s1.c_str(), s2.c_str())!=NULL;
00090 }
00091 


warehouse_ros
Author(s): Bhaskara Marthi
autogenerated on Fri Apr 22 2016 04:08:50