test_tf2_kdl.cpp

/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *     * Neither the name of the Willow Garage, Inc. nor the names of its
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 *       this software without specific prior written permission.
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 * 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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/** \author Wim Meeussen */

#ifdef _MSC_VER
#ifndef _USE_MATH_DEFINES
#define _USE_MATH_DEFINES
#endif
#endif

// To get M_PI, especially on Windows.
#include <math.h>

#include <tf2_kdl/tf2_kdl.h>
#include <kdl/frames_io.hpp>
#include <gtest/gtest.h>
#include <rclcpp/rclcpp.hpp>
#include "tf2_ros/buffer.h"
#include <tf2/convert.h>

std::unique_ptr<tf2_ros::Buffer> tf_buffer;
static const double EPS = 1e-3;

TEST(TfKDL, Frame)
{
  tf2::Stamped<KDL::Frame> v1(KDL::Frame(KDL::Rotation::RPY(M_PI, 0, 0), KDL::Vector(1,2,3)), tf2::TimePoint(tf2::durationFromSec(2.0)), "A");

  // simple api
  KDL::Frame v_simple = tf_buffer->transform(v1, "B", tf2::durationFromSec(2.0));
  EXPECT_NEAR(v_simple.p[0], -9, EPS);
  EXPECT_NEAR(v_simple.p[1], 18, EPS);
  EXPECT_NEAR(v_simple.p[2], 27, EPS);
  double r, p, y;
  v_simple.M.GetRPY(r, p, y);
  EXPECT_NEAR(r, 0.0, EPS);
  EXPECT_NEAR(p, 0.0, EPS);
  EXPECT_NEAR(y, 0.0, EPS);


  // advanced api
  KDL::Frame v_advanced = tf_buffer->transform(v1, "B", tf2::TimePoint(tf2::durationFromSec(2.0)), 
                "A", tf2::Duration(std::chrono::seconds(3)));
  EXPECT_NEAR(v_advanced.p[0], -9, EPS);
  EXPECT_NEAR(v_advanced.p[1], 18, EPS);
  EXPECT_NEAR(v_advanced.p[2], 27, EPS);
  v_advanced.M.GetRPY(r, p, y);
  EXPECT_NEAR(r, 0.0, EPS);
  EXPECT_NEAR(p, 0.0, EPS);
  EXPECT_NEAR(y, 0.0, EPS);

}

TEST(TfKDL, Vector)
{
  tf2::Stamped<KDL::Vector> v1(KDL::Vector(1,2,3),  tf2::TimePoint(tf2::durationFromSec(2.0)), "A");


  // simple api
  KDL::Vector v_simple = tf_buffer->transform(v1, "B", tf2::durationFromSec(2.0));
  EXPECT_NEAR(v_simple[0], -9, EPS);
  EXPECT_NEAR(v_simple[1], 18, EPS);
  EXPECT_NEAR(v_simple[2], 27, EPS);

  // advanced api
  KDL::Vector v_advanced = tf_buffer->transform(v1, "B", tf2::TimePoint(tf2::durationFromSec(2.0)), 
                "A", tf2::Duration(std::chrono::seconds(3)));
  EXPECT_NEAR(v_advanced[0], -9, EPS);
  EXPECT_NEAR(v_advanced[1], 18, EPS);
  EXPECT_NEAR(v_advanced[2], 27, EPS);
}

TEST(TfKDL, ConvertVector)
{
  tf2::Stamped<KDL::Vector> v(KDL::Vector(1,2,3), tf2::TimePoint(tf2::durationFromSec(0)), "my_frame");

  tf2::Stamped<KDL::Vector> v1 = v;
  tf2::convert(v1, v1);

  EXPECT_EQ(v, v1);

  tf2::Stamped<KDL::Vector> v2(KDL::Vector(3,4,5), tf2::TimePoint(tf2::durationFromSec(0)), "my_frame2");
  tf2::convert(v1, v2);

  EXPECT_EQ(v, v2);
  EXPECT_EQ(v1, v2);
}


int main(int argc, char **argv){
  testing::InitGoogleTest(&argc, argv);

  rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
  tf_buffer = std::make_unique<tf2_ros::Buffer>(clock);

  // populate buffer
  geometry_msgs::msg::TransformStamped t;
  t.transform.translation.x = 10;
  t.transform.translation.y = 20;
  t.transform.translation.z = 30;
  t.transform.rotation.x = 1;
  t.header.stamp.sec = 2;
  t.header.stamp.nanosec = 0;
  t.header.frame_id = "A";
  t.child_frame_id = "B";
  tf_buffer->setTransform(t, "test");

  int retval = RUN_ALL_TESTS();
  return retval;
}