transform_listener_unittest.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 #include <gtest/gtest.h>
31 #include <tf/transform_listener.h>
32 #include <sys/time.h>
33 
34 
35 void seed_rand()
36 {
37  //Seed random number generator with current microseond count
38  timeval temp_time_struct;
39  gettimeofday(&temp_time_struct,NULL);
40  srand(temp_time_struct.tv_usec);
41 };
42 
43 void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues)
44 {
45  seed_rand();
46  for ( uint64_t i = 0; i < runs ; i++ )
47  {
48  xvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
49  yvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
50  zvalues[i] = 1.0 * ((double) rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
51  }
52 }
53 
54 
55 using namespace tf;
56 
57 
58 TEST(transform_listener, resolve)
59 {
60  ros::NodeHandle n("~");
62 
63  //no prefix
64  EXPECT_STREQ("id", tl.resolve("id").c_str());
65 
66  n.setParam("tf_prefix", "a_tf_prefix");
68 
69  std::string prefix_str = tf::getPrefixParam(n);
70 
71  EXPECT_STREQ("a_tf_prefix", prefix_str.c_str());
72 
73  EXPECT_STREQ("a_tf_prefix/id", tf::resolve(prefix_str, "id").c_str());
74 
75  EXPECT_STREQ("a_tf_prefix/id", tp.resolve("id").c_str());
76 
77 
78 }
79 
80 
81 int main(int argc, char **argv){
82  testing::InitGoogleTest(&argc, argv);
83  ros::init(argc, argv, "transform_listener_unittest");
84  return RUN_ALL_TESTS();
85 }
TEST(transform_listener, resolve)
std::string getPrefixParam(ros::NodeHandle &nh)
Get the tf_prefix from the parameter server.
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
Definition: exceptions.h:38
std::string resolve(const std::string &frame_name)
std::string resolve(const std::string &prefix, const std::string &frame_name)
resolve tf names
Definition: tf.cpp:159
void generate_rand_vectors(double scale, uint64_t runs, std::vector< double > &xvalues, std::vector< double > &yvalues, std::vector< double > &zvalues)
int main(int argc, char **argv)
This class inherits from Transformer and automatically subscribes to ROS transform messages...
void setParam(const std::string &key, const XmlRpc::XmlRpcValue &v) const


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Tue Jan 2 2018 03:17:40