transform_listener_unittest.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#include <ctime>
#include <cstdlib>
#include <gtest/gtest.h>
#include <tf/transform_listener.h>


void seed_rand()
{
  //Seed random number generator with current microseond count
  std::srand(std::time(0));
}

void generate_rand_vectors(double scale, uint64_t runs, std::vector<double>& xvalues, std::vector<double>& yvalues, std::vector<double>&zvalues)
{
  seed_rand();
  for ( uint64_t i = 0; i < runs ; i++ )
  {
    xvalues[i] = 1.0 * ((double) std::rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
    yvalues[i] = 1.0 * ((double) std::rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
    zvalues[i] = 1.0 * ((double) std::rand() - (double)RAND_MAX /2.0) /(double)RAND_MAX;
  }
}


using namespace tf;


TEST(transform_listener, resolve)
{
  ros::NodeHandle n("~");
  tf::TransformListener tl; 
  
  //no prefix
  EXPECT_STREQ("id", tl.resolve("id").c_str());
  
  n.setParam("tf_prefix", "a_tf_prefix");
  tf::TransformListener tp; 

  std::string prefix_str = tf::getPrefixParam(n);

  EXPECT_STREQ("a_tf_prefix", prefix_str.c_str());

  EXPECT_STREQ("a_tf_prefix/id", tf::resolve(prefix_str, "id").c_str());

  EXPECT_STREQ("a_tf_prefix/id", tp.resolve("id").c_str());
  

}


int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "transform_listener_unittest");
  return RUN_ALL_TESTS();
}