test_tf2_bullet.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 
00033 #include <tf2_bullet/tf2_bullet.h>
00034 #include <ros/ros.h>
00035 #include <gtest/gtest.h>
00036 #include <tf2/convert.h>
00037 
00038 static const double EPS = 1e-3;
00039 
00040 
00041 TEST(TfBullet, ConvertVector)
00042 {
00043   btVector3 v(1,2,3);
00044 
00045   btVector3 v1 = v;
00046   tf2::convert(v1, v1);
00047 
00048   EXPECT_EQ(v, v1);
00049 
00050   btVector3 v2(3,4,5);
00051   tf2::convert(v1, v2);
00052 
00053   EXPECT_EQ(v, v2);
00054   EXPECT_EQ(v1, v2);
00055 }
00056 
00057 
00058 
00059 int main(int argc, char **argv){
00060   testing::InitGoogleTest(&argc, argv);
00061 
00062   int ret = RUN_ALL_TESTS();
00063   return ret;
00064 }


tf2_bullet
Author(s): Wim Meeussen
autogenerated on Mon Oct 2 2017 02:24:39