39 #include <moveit/robot_state/transforms.h> 40 #include <urdf_parser/urdf_parser.h> 42 #include <gtest/gtest.h> 52 std::fstream xml_file(
"pr2_description/urdf/robot.xml", std::fstream::in);
53 if (xml_file.is_open())
55 while (xml_file.good())
58 std::getline(xml_file, line);
59 xml_string += (line +
"\n");
88 ks.setToRandomValues();
95 t1.translation() = Eigen::Vector3d(10.0, 1.0, 0.0);
96 tf.setTransform(t1,
"some_frame_1");
98 Eigen::Affine3d t2(Eigen::Translation3d(10.0, 1.0, 0.0) * Eigen::AngleAxisd(0.5, Eigen::Vector3d::UnitY()));
99 tf.setTransform(t2,
"some_frame_2");
103 t3.translation() = Eigen::Vector3d(0.0, 1.0, -1.0);
104 tf.setTransform(t3,
"some_frame_3");
112 tf.transformPose(ks,
"some_frame_2", x, x);
114 EXPECT_TRUE(t2.translation() == x.translation());
115 EXPECT_TRUE(t2.linear() == x.linear());
117 tf.transformPose(ks, kmodel->getModelFrame(), x, x);
118 EXPECT_TRUE(t2.translation() == x.translation());
119 EXPECT_TRUE(t2.linear() == x.linear());
122 tf.transformPose(ks,
"r_wrist_roll_link", x, x);
129 int main(
int argc,
char** argv)
131 testing::InitGoogleTest(&argc, argv);
132 return RUN_ALL_TESTS();
urdf::ModelInterfaceSharedPtr urdf_model_
robot_model::RobotModelPtr kmodel
#define EXPECT_NEAR(a, b, prec)
Definition of a kinematic model. This class is not thread safe, however multiple instances can be cre...
void setToDefaultValues()
Set all joints to their default positions. The default position is 0, or if that is not within bounds...
#define EXPECT_FALSE(args)
def xml_string(rootXml, addHeader=True)
Representation of a robot's state. This includes position, velocity, acceleration and effort...
srdf::ModelSharedPtr srdf_model_
#define EXPECT_TRUE(args)