tf2_kdl: tf2_kdl: test_tf2_kdl.cpp Source File

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:
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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
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00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
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00029 
00033 #include <tf2_kdl/tf2_kdl.h>
00034 #include <ros/ros.h>
00035 #include <kdl/frames_io.hpp>
00036 #include <gtest/gtest.h>
00037 
00038 
00039 tf2::Buffer* tf_buffer;
00040 static const double EPS = 1e-3;
00041 
00042 TEST(TfKDL, Frame)
00043 {
00044   tf2::Stamped<KDL::Frame> v1(KDL::Frame(KDL::Rotation::RPY(M_PI, 0, 0), KDL::Vector(1,2,3)), ros::Time(2.0), "A");
00045 
00046 
00047   // simple api
00048   KDL::Frame v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00049   EXPECT_NEAR(v_simple.p[0], -9, EPS);
00050   EXPECT_NEAR(v_simple.p[1], 18, EPS);
00051   EXPECT_NEAR(v_simple.p[2], 27, EPS);
00052   double r, p, y;
00053   v_simple.M.GetRPY(r, p, y);
00054   EXPECT_NEAR(r, 0.0, EPS);
00055   EXPECT_NEAR(p, 0.0, EPS);
00056   EXPECT_NEAR(y, 0.0, EPS);
00057   
00058 
00059   // advanced api
00060   KDL::Frame v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00061                                                "A", ros::Duration(3.0));
00062   EXPECT_NEAR(v_advanced.p[0], -9, EPS);
00063   EXPECT_NEAR(v_advanced.p[1], 18, EPS);
00064   EXPECT_NEAR(v_advanced.p[2], 27, EPS);
00065   v_advanced.M.GetRPY(r, p, y);
00066   EXPECT_NEAR(r, 0.0, EPS);
00067   EXPECT_NEAR(p, 0.0, EPS);
00068   EXPECT_NEAR(y, 0.0, EPS);
00069 
00070 }
00071 
00072 
00073 
00074 TEST(TfKDL, Vector)
00075 {
00076   tf2::Stamped<KDL::Vector> v1(KDL::Vector(1,2,3), ros::Time(2.0), "A");
00077 
00078 
00079   // simple api
00080   KDL::Vector v_simple = tf_buffer->transform(v1, "B", ros::Duration(2.0));
00081   EXPECT_NEAR(v_simple[0], -9, EPS);
00082   EXPECT_NEAR(v_simple[1], 18, EPS);
00083   EXPECT_NEAR(v_simple[2], 27, EPS);
00084 
00085   // advanced api
00086   KDL::Vector v_advanced = tf_buffer->transform(v1, "B", ros::Time(2.0),
00087                                                "A", ros::Duration(3.0));
00088   EXPECT_NEAR(v_advanced[0], -9, EPS);
00089   EXPECT_NEAR(v_advanced[1], 18, EPS);
00090   EXPECT_NEAR(v_advanced[2], 27, EPS);
00091 }
00092 
00093 TEST(TfKDL, ConvertVector)
00094 {
00095   tf2::Stamped<KDL::Vector> v(KDL::Vector(1,2,3), ros::Time(), "my_frame");
00096 
00097   tf2::Stamped<KDL::Vector> v1 = v;
00098   tf2::convert(v1, v1);
00099 
00100   EXPECT_EQ(v, v1);
00101 
00102   tf2::Stamped<KDL::Vector> v2(KDL::Vector(3,4,5), ros::Time(), "my_frame2");
00103   tf2::convert(v1, v2);
00104 
00105   EXPECT_EQ(v, v2);
00106   EXPECT_EQ(v1, v2);
00107 }
00108 
00109 
00110 int main(int argc, char **argv){
00111   testing::InitGoogleTest(&argc, argv);
00112   ros::init(argc, argv, "test");
00113   ros::NodeHandle n;
00114   
00115   tf_buffer = new tf2::Buffer();
00116 
00117   // populate buffer
00118   geometry_msgs::TransformStamped t;
00119   t.transform.translation.x = 10;
00120   t.transform.translation.y = 20;
00121   t.transform.translation.z = 30;
00122   t.transform.rotation.x = 1;
00123   t.header.stamp = ros::Time(2.0);
00124   t.header.frame_id = "A";
00125   t.child_frame_id = "B";
00126   tf_buffer->setTransform(t, "test");
00127 
00128   bool retval = RUN_ALL_TESTS();
00129   delete tf_buffer;
00130   return retval;
00131 }