FrameTransformer_unittest.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include <mrpt/poses/FrameTransformer.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/poses/CPose3D.h>
#include <gtest/gtest.h>

template <int DIM>
void run_tf_test1(const mrpt::poses::CPose2D &A2B_)
{
        using namespace mrpt::poses;

        FrameTransformer<DIM> tf;

        // Pub:
        const typename FrameTransformer<DIM>::pose_t  real_A2B = typename FrameTransformer<DIM>::pose_t(A2B_);
        tf.sendTransform("A","B", real_A2B);

        // Read:
        {
                typename FrameTransformer<DIM>::pose_t  A2B_looked_up;
                const auto ret = tf.lookupTransform("B", "A", A2B_looked_up);
                EXPECT_EQ(ret, mrpt::poses::LKUP_GOOD);
                EXPECT_NEAR(.0, (real_A2B.getAsVectorVal() - A2B_looked_up.getAsVectorVal()).array().abs().sum(), 1e-6);
        }

}

TEST(FrameTransformer,SimplePublishAndLookup)
{
        const mrpt::poses::CPose2D test_A2B(5.0, 2.0, 0.3);

        run_tf_test1<2>(test_A2B);
        run_tf_test1<3>(test_A2B);
}