406 lines
9.9 KiB
C++
Executable File
406 lines
9.9 KiB
C++
Executable File
/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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/** \author Wim Meeussen */
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#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
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#include <gtest/gtest.h>
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static const double EPS = 1e-6;
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tf3::Vector3 get_tf3_vector()
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{
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return tf3::Vector3(1.0, 2.0, 3.0);
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}
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geometry_msgs::Vector3& value_initialize(geometry_msgs::Vector3 &m1)
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{
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m1.x = 1;
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m1.y = 2;
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m1.z = 3;
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return m1;
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}
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std_msgs::Header& value_initialize(std_msgs::Header & h)
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{
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h.stamp = robot::Time(10);
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h.frame_id = "foobar";
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return h;
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}
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geometry_msgs::Vector3Stamped& value_initialize(geometry_msgs::Vector3Stamped &m1)
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{
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value_initialize(m1.header);
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value_initialize(m1.vector);
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return m1;
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}
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geometry_msgs::Point& value_initialize(geometry_msgs::Point &m1)
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{
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m1.x = 1;
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m1.y = 2;
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m1.z = 3;
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return m1;
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}
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geometry_msgs::PointStamped& value_initialize(geometry_msgs::PointStamped &m1)
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{
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value_initialize(m1.header);
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value_initialize(m1.point);
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return m1;
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}
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geometry_msgs::Quaternion & value_initialize(geometry_msgs::Quaternion &m1)
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{
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m1.x = 0;
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m1.y = 0;
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m1.z = 0.7071067811;
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m1.w = 0.7071067811;
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return m1;
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}
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geometry_msgs::QuaternionStamped& value_initialize(geometry_msgs::QuaternionStamped &m1)
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{
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value_initialize(m1.header);
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value_initialize(m1.quaternion);
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return m1;
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}
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geometry_msgs::Pose & value_initialize(geometry_msgs::Pose & m1)
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{
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value_initialize(m1.position);
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value_initialize(m1.orientation);
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return m1;
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}
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geometry_msgs::PoseStamped& value_initialize(geometry_msgs::PoseStamped &m1)
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{
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value_initialize(m1.header);
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value_initialize(m1.pose);
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return m1;
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}
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geometry_msgs::Transform & value_initialize(geometry_msgs::Transform & m1)
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{
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value_initialize(m1.translation);
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value_initialize(m1.rotation);
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return m1;
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}
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geometry_msgs::TransformStamped& value_initialize(geometry_msgs::TransformStamped &m1)
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{
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value_initialize(m1.header);
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value_initialize(m1.transform);
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return m1;
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}
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void expect_near(const std_msgs::Header & h1, const std_msgs::Header & h2)
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{
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EXPECT_NEAR(h1.stamp.toSec(), h2.stamp.toSec(), EPS);
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EXPECT_STREQ(h1.frame_id.c_str(), h2.frame_id.c_str());
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}
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/*
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* Vector3
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*/
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void expect_near(const geometry_msgs::Vector3 & v1, const tf3::Vector3 & v2)
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{
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EXPECT_NEAR(v1.x, v2.x(), EPS);
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EXPECT_NEAR(v1.y, v2.y(), EPS);
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EXPECT_NEAR(v1.z, v2.z(), EPS);
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}
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void expect_near(const geometry_msgs::Vector3 & v1, const geometry_msgs::Vector3 & v2)
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{
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EXPECT_NEAR(v1.x, v2.x, EPS);
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EXPECT_NEAR(v1.y, v2.y, EPS);
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EXPECT_NEAR(v1.z, v2.z, EPS);
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}
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void expect_near(const tf3::Vector3 & v1, const tf3::Vector3 & v2)
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{
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EXPECT_NEAR(v1.x(), v2.x(), EPS);
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EXPECT_NEAR(v1.y(), v2.y(), EPS);
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EXPECT_NEAR(v1.z(), v2.z(), EPS);
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}
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void expect_near(const geometry_msgs::Vector3Stamped & p1, const geometry_msgs::Vector3Stamped & p2)
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{
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expect_near(p1.header, p2.header);
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expect_near(p1.vector, p2.vector);
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}
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/*
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* Point
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*/
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void expect_near(const geometry_msgs::Point & p1, const tf3::Vector3 & v2)
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{
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EXPECT_NEAR(p1.x, v2.x(), EPS);
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EXPECT_NEAR(p1.y, v2.y(), EPS);
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EXPECT_NEAR(p1.z, v2.z(), EPS);
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}
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void expect_near(const geometry_msgs::Point & p1, const geometry_msgs::Point & v2)
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{
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EXPECT_NEAR(p1.x, v2.x, EPS);
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EXPECT_NEAR(p1.y, v2.y, EPS);
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EXPECT_NEAR(p1.z, v2.z, EPS);
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}
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void expect_near(const geometry_msgs::PointStamped & p1, const geometry_msgs::PointStamped & p2)
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{
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expect_near(p1.header, p2.header);
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expect_near(p1.point, p2.point);
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}
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/*
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* Quaternion
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*/
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void expect_near(const geometry_msgs::Quaternion & q1, const tf3::Quaternion & v2)
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{
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EXPECT_NEAR(q1.x, v2.x(), EPS);
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EXPECT_NEAR(q1.y, v2.y(), EPS);
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EXPECT_NEAR(q1.z, v2.z(), EPS);
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}
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void expect_near(const geometry_msgs::Quaternion & q1, const geometry_msgs::Quaternion & v2)
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{
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EXPECT_NEAR(q1.x, v2.x, EPS);
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EXPECT_NEAR(q1.y, v2.y, EPS);
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EXPECT_NEAR(q1.z, v2.z, EPS);
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}
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void expect_near(const geometry_msgs::QuaternionStamped & p1, const geometry_msgs::QuaternionStamped & p2)
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{
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expect_near(p1.header, p2.header);
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expect_near(p1.quaternion, p2.quaternion);
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}
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/*
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* Pose
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*/
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void expect_near(const geometry_msgs::Pose & p, const tf3::Transform & t)
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{
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expect_near(p.position, t.getOrigin());
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expect_near(p.orientation, t.getRotation());
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}
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void expect_near(const geometry_msgs::Pose & p1, const geometry_msgs::Pose & p2)
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{
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expect_near(p1.position, p2.position);
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expect_near(p1.orientation, p2.orientation);
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}
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void expect_near(const geometry_msgs::PoseStamped & p1, const geometry_msgs::PoseStamped & p2)
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{
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expect_near(p1.header, p2.header);
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expect_near(p1.pose, p2.pose);
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}
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/*
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* Transform
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*/
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void expect_near(const geometry_msgs::Transform & p, const tf3::Transform & t)
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{
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expect_near(p.translation, t.getOrigin());
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expect_near(p.rotation, t.getRotation());
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}
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void expect_near(const geometry_msgs::Transform & p1, const geometry_msgs::Transform & p2)
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{
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expect_near(p1.translation, p2.translation);
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expect_near(p1.rotation, p2.rotation);
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}
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void expect_near(const geometry_msgs::TransformStamped & p1, const geometry_msgs::TransformStamped & p2)
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{
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expect_near(p1.header, p2.header);
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expect_near(p1.transform, p2.transform);
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}
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/*
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* Stamped templated expect_near
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*/
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template <typename T>
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void expect_near(const tf3::Stamped<T>& s1, const tf3::Stamped<T>& s2)
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{
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expect_near((T)s1, (T)s2);
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}
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/*********************
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* Tests
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*********************/
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TEST(tf3_geometry_msgs, Vector3)
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{
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geometry_msgs::Vector3 m1;
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value_initialize(m1);
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tf3::Vector3 v1;
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fromMsg(m1, v1);
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SCOPED_TRACE("m1 v1");
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expect_near(m1, v1);
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geometry_msgs::Vector3 m2 = toMsg(v1);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, Point)
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{
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geometry_msgs::Point m1;
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value_initialize(m1);
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tf3::Vector3 v1;
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SCOPED_TRACE("m1 v1");
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fromMsg(m1, v1);
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expect_near(m1, v1);
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geometry_msgs::Point m2 = toMsg(v1, m2);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, Quaternion)
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{
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geometry_msgs::Quaternion m1;
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value_initialize(m1);
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tf3::Quaternion q1;
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SCOPED_TRACE("m1 q1");
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fromMsg(m1, q1);
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expect_near(m1, q1);
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geometry_msgs::Quaternion m2 = toMsg(q1);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, Pose)
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{
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geometry_msgs::Pose m1;
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value_initialize(m1);
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tf3::Transform t1;
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fromMsg(m1, t1);
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SCOPED_TRACE("m1 t1");
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expect_near(m1, t1);
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geometry_msgs::Pose m2 = toMsg(t1, m2);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, Transform)
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{
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geometry_msgs::Transform m1;
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value_initialize(m1);
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tf3::Transform t1;
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fromMsg(m1, t1);
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SCOPED_TRACE("m1 t1");
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expect_near(m1, t1);
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geometry_msgs::Transform m2 = toMsg(t1);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, Vector3Stamped)
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{
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geometry_msgs::Vector3Stamped m1;
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value_initialize(m1);
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tf3::Stamped<tf3::Vector3> v1;
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fromMsg(m1, v1);
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SCOPED_TRACE("m1 v1");
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// expect_near(m1, v1);
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geometry_msgs::Vector3Stamped m2;
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m2 = toMsg(v1);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, PointStamped)
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{
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geometry_msgs::PointStamped m1;
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value_initialize(m1);
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tf3::Stamped<tf3::Vector3> v1;
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fromMsg(m1, v1);
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SCOPED_TRACE("m1 v1");
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// expect_near(m1, v1); //TODO implement cross verification explicityly
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geometry_msgs::PointStamped m2;
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m2 = toMsg(v1, m2);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, QuaternionStamped)
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{
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geometry_msgs::QuaternionStamped m1;
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value_initialize(m1);
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tf3::Stamped<tf3::Quaternion> v1;
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fromMsg(m1, v1);
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SCOPED_TRACE("m1 v1");
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// expect_near(m1, v1); //TODO implement cross verification explicityly
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geometry_msgs::QuaternionStamped m2;
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m2 = tf3::toMsg(v1);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, PoseStamped)
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{
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geometry_msgs::PoseStamped m1;
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value_initialize(m1);
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tf3::Stamped<tf3::Transform> v1;
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SCOPED_TRACE("m1 v1");
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fromMsg(m1, v1);
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// expect_near(m1, v1); //TODO implement cross verification explicityly
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geometry_msgs::PoseStamped m2;
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m2 = tf3::toMsg(v1, m2);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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TEST(tf3_geometry_msgs, TransformStamped)
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{
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geometry_msgs::TransformStamped m1;
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value_initialize(m1);
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tf3::Stamped<tf3::Transform> v1;
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fromMsg(m1, v1);
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SCOPED_TRACE("m1 v1");
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// expect_near(m1, v1);
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geometry_msgs::TransformStamped m2;
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m2 = tf3::toMsg(v1);
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SCOPED_TRACE("m1 m2");
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expect_near(m1, m2);
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}
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int main(int argc, char **argv){
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testing::InitGoogleTest(&argc, argv);
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int ret = RUN_ALL_TESTS();
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return ret;
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}
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