transforms/test/test_transforms.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 #include <urdf_parser/urdf_parser.h>
39 #include <fstream>
40 #include <gtest/gtest.h>
41 
42 TEST(Transforms, Simple)
43 {
44  moveit::core::Transforms tf("global");
45 
46  Eigen::Affine3d t1;
47  t1.setIdentity();
48  t1.translation() = Eigen::Vector3d(10.0, 1.0, 0.0);
49  tf.setTransform(t1, "some_frame_1");
50 
51  Eigen::Affine3d t2(Eigen::Translation3d(10.0, 1.0, 0.0) * Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitY()));
52  tf.setTransform(t2, "some_frame_2");
53 
54  Eigen::Affine3d t3;
55  t3.setIdentity();
56  t3.translation() = Eigen::Vector3d(0.0, 1.0, -1.0);
57  tf.setTransform(t3, "some_frame_3");
58 
59  EXPECT_TRUE(tf.isFixedFrame("some_frame_1"));
60  EXPECT_FALSE(tf.isFixedFrame("base_footprint"));
61  EXPECT_TRUE(tf.isFixedFrame("global"));
62 }
63 
64 int main(int argc, char** argv)
65 {
66  testing::InitGoogleTest(&argc, argv);
67  return RUN_ALL_TESTS();
68 }
int main(int argc, char **argv)
TEST(Transforms, Simple)
Provides an implementation of a snapshot of a transform tree that can be easily queried for transform...
Definition: transforms.h:61
#define EXPECT_FALSE(args)
void setTransform(const Eigen::Affine3d &t, const std::string &from_frame)
Set a transform in the transform tree (adding it if necessary)
Definition: transforms.cpp:127
virtual bool isFixedFrame(const std::string &frame) const
Check whether a frame stays constant as the state of the robot model changes. This is true for any tr...
Definition: transforms.cpp:92
#define EXPECT_TRUE(args)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Dec 9 2018 03:51:46