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remove file data_convert

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duongtd
2025-11-26 16:25:06 +07:00
parent d3588f0bb5
commit 12000dabcc
7 changed files with 52 additions and 166 deletions
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16
tf3_geometry_msgs/test/test_tf2_geometry_msgs.cpp
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@@ -34,7 +34,7 @@
#include <gtest/gtest.h>
#include <tf3/buffer_core.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <tf3_geometry_msgs/data_convert.h>
#include <data_convert/data_convert.h>
tf3::BufferCore* tf_buffer;
tf3::TransformStampedMsg t;
@@ -63,7 +63,7 @@ TEST(TfGeometry, Frame)
tf3::TransformStampedMsg tfm = tf_buffer->lookupTransform(
"B", // frame đích
v1.header.frame_id, // frame nguồn
// tf3::convertTime(v1.header.stamp)
// data_convert::convertTime(v1.header.stamp)
tf3::Time()
);
// std::cout << "STEP 3" << std::endl;
@@ -92,7 +92,7 @@ TEST(TfGeometry, Frame)
tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
"B", // frame đích
"A", // frame nguồn
tf3::convertTime(robot::Time(2.0))
data_convert::convertTime(robot::Time(2.0))
);
geometry_msgs::PoseStamped v_advanced = v1; // hoặc v1
@@ -142,7 +142,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
tf3::TransformStampedMsg tfm1 = tf_buffer->lookupTransform(
"B", // frame đích
"A", // frame nguồn
tf3::convertTime(robot::Time(2.0))
data_convert::convertTime(robot::Time(2.0))
);
tf3::doTransform(v1, v_simple, tfm1);
std::cout << v_simple.pose.pose.position.x << " , "
@@ -174,7 +174,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
tf3::TransformStampedMsg tfm2 = tf_buffer->lookupTransform(
"B", // frame đích
"A", // frame nguồn
tf3::convertTime(robot::Time(2.0))
data_convert::convertTime(robot::Time(2.0))
);
tf3::doTransform(v1, v_advanced, tfm2);
@@ -215,7 +215,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
t_rot.header.stamp = robot::Time(2.0);
t_rot.header.frame_id = "A";
t_rot.child_frame_id = "rotated";
tf3::TransformStampedMsg t_rot_msg = tf3::convertToTransformStampedMsg(t_rot);
tf3::TransformStampedMsg t_rot_msg = data_convert::convertToTransformStampedMsg(t_rot);
tf_buffer->setTransform(t_rot_msg, "rotation_test");
// need to put some covariance in the matrix
@@ -228,7 +228,7 @@ TEST(TfGeometry, PoseWithCovarianceStamped)
tf3::TransformStampedMsg tfm3 = tf_buffer->lookupTransform(
"rotated", // frame đích
"A", // frame nguồn
tf3::convertTime(robot::Time(2.0))
data_convert::convertTime(robot::Time(2.0))
);
tf3::doTransform(v1, v_rotated, tfm3);
@@ -270,7 +270,7 @@ int main(int argc, char **argv){
t.transform.rotation.z = 0;
t.transform.rotation.w = 0;
t.header.stamp = tf3::convertTime(robot::Time(2.0));
t.header.stamp = data_convert::convertTime(robot::Time(2.0));
t.header.frame_id = "A";
t.child_frame_id = "B";
tf_buffer->setTransform(t, "test");