test_tf_projection.cpp

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/*
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#include <cmath>
 
#include <ros/ros.h>
 
#include <tf2/LinearMath/Transform.h>
#include <tf2/transform_datatypes.h>
 
#include <track_odometry/tf_projection.h>
 
#include <gtest/gtest.h>
 
void testTransform(
    const tf2::Stamped<tf2::Transform> proj2base,
    const tf2::Stamped<tf2::Transform> targ2proj,
    const tf2::Stamped<tf2::Transform> truth)
{
  tf2::Transform result = track_odometry::projectTranslation(proj2base, targ2proj);
 
  const double error_x = std::abs(result.getOrigin().x() - truth.getOrigin().x());
  const double error_y = std::abs(result.getOrigin().y() - truth.getOrigin().y());
  const double error_z = std::abs(result.getOrigin().z() - truth.getOrigin().z());
  const tf2::Quaternion error_q = result.getRotation() * truth.getRotation().inverse();
  ASSERT_LT(error_x, 0.001);
  ASSERT_LT(error_y, 0.001);
  ASSERT_LT(error_z, 0.001);
  ASSERT_LT(std::abs(error_q.getAngle()), 0.001);
}
 
TEST(TfProjection, ProjectionTransform)
{
  testTransform(
      tf2::Stamped<tf2::Transform>(
          tf2::Transform(tf2::Quaternion(tf2::Vector3(0.0, 0.0, 1.0), M_PI / 2.0),
                         tf2::Vector3(1.0, 3.0, 10.0)),
          ros::Time(0),
          "map"),
      // projected: t(1.0, 3.0, 0.0), r((0.0, 0.0, 1.0), M_PI/2.0)
      tf2::Stamped<tf2::Transform>(
          tf2::Transform(tf2::Quaternion(tf2::Vector3(0.0, 0.0, 1.0), M_PI / 2.0),
                         tf2::Vector3(1.0, 0.0, 0.5)),
          ros::Time(0),
          "odom"),
      // rotate 90deg: (-3.0, 1.0, 0.0), r((0.0, 0.0, 1.0), M_PI)
      // offset x+1.0, z+0.5: t(-2.0, 1.0, 0.5), r((0.0, 0.0, 1.0), M_PI)
      tf2::Stamped<tf2::Transform>(
          tf2::Transform(tf2::Quaternion(tf2::Vector3(0.0, 0.0, 1.0), M_PI),
                         tf2::Vector3(-2.0, 1.0, 0.5)),
          ros::Time(0),
          "odom"));
 
  testTransform(
      tf2::Stamped<tf2::Transform>(
          tf2::Transform(tf2::Quaternion(tf2::Vector3(0.0, 0.0, 1.0), 0.0),
                         tf2::Vector3(1.0, 1.0, 100.0)),
          ros::Time(0),
          "map"),
      // projected: t(1.0, 1.0, 0.0), r((0.0, 0.0, 1.0), 0.0)
      tf2::Stamped<tf2::Transform>(
          tf2::Transform(tf2::Quaternion(tf2::Vector3(1.0, 0.0, 0.0), M_PI / 6.0),
                         tf2::Vector3(0.0, -std::sqrt(3.0) / 2.0, 3.0 / 2.0)),
          ros::Time(0),
          "odom"),
      // rotate 30deg and offset to make it on z axis
      tf2::Stamped<tf2::Transform>(
          tf2::Transform(tf2::Quaternion(tf2::Vector3(1.0, 0.0, 0.0), M_PI / 6.0),
                         tf2::Vector3(1.0, 0.0, 2.0)),
          ros::Time(0),
          "odom"));
}
 
int main(int argc, char** argv)
{
  ::testing::InitGoogleTest(&argc, argv);
 
  return RUN_ALL_TESTS();
}