test_tf_projection_node.cpp

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/*
 * Copyright (c) 2019, the neonavigation authors
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#include <cmath>
#include <string>
 
#include <ros/ros.h>
#include <geometry_msgs/TransformStamped.h>
#include <tf2/utils.h>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>
 
#include <gtest/gtest.h>
 
class TfProjectionTest : public ::testing::TestWithParam<const char*>
{
public:
  tf2_ros::Buffer tfbuf_;
  tf2_ros::TransformListener tfl_;
 
  std::string projected_frame_;
 
  TfProjectionTest()
    : tfl_(tfbuf_)
  {
  }
  void SetUp() override
  {
    projected_frame_ = std::string(GetParam());
  }
};
 
TEST_P(TfProjectionTest, ProjectionTransform)
{
  EXPECT_TRUE(tfbuf_.canTransform("map", projected_frame_, ros::Time(0), ros::Duration(10.0)));
 
  geometry_msgs::TransformStamped out;
  try
  {
    out = tfbuf_.lookupTransform("map", projected_frame_, ros::Time(0), ros::Duration(1.0));
  }
  catch (tf2::TransformException& e)
  {
    FAIL() << e.what();
  }
 
  if (projected_frame_ == "base_link_tilt_projected_with_aligned")
  {
    const tf2::Transform trans(
        tf2::Quaternion(tf2::Vector3(0.0, 1.0, 0.0), -M_PI / 6));
    const tf2::Vector3 result = trans * tf2::Vector3(1, 2, 3);
    ASSERT_NEAR(out.transform.translation.x, result[0], 1e-4);
  }
  else
  {
    ASSERT_NEAR(out.transform.translation.x, 1, 1e-4);
  }
  ASSERT_NEAR(out.transform.translation.y, 2, 1e-4);
  ASSERT_NEAR(out.transform.translation.z, 0, 1e-4);
  ASSERT_NEAR(out.transform.rotation.x, 0, 1e-4);
  ASSERT_NEAR(out.transform.rotation.y, 0, 1e-4);
  ASSERT_NEAR(out.transform.rotation.z, 0.7071, 1e-4);
  ASSERT_NEAR(out.transform.rotation.w, 0.7071, 1e-4);
  ASSERT_EQ(out.header.frame_id, "map");
  ASSERT_EQ(out.child_frame_id, projected_frame_);
}
 
INSTANTIATE_TEST_CASE_P(
    ProjectionTransformInstance, TfProjectionTest,
    ::testing::Values(
        "base_link_projected",
        "base_link_projected2",
        "base_link_tilt_projected",
        "base_link_tilt_projected_with_aligned"));
 
int main(int argc, char** argv)
{
  testing::InitGoogleTest(&argc, argv);
  ros::init(argc, argv, "test_tf_projection_node");
 
  return RUN_ALL_TESTS();
}