pose_unittest.cpp File Reference

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseWithCovariance.h>
#include <geometry_msgs/Quaternion.h>
#include <gtest/gtest.h>
#include <mrpt/math/CQuaternion.h>
#include <mrpt/poses/CPose3DPDFGaussian.h>
#include <mrpt/poses/CPosePDFGaussian.h>
#include <mrpt/ros1bridge/pose.h>
#include <Eigen/Dense>

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Functions
	TEST (PoseConversions, copyMatrix3x3ToCMatrixDouble33)
	TEST (PoseConversions, copyCMatrixDouble33ToMatrix3x3)
	TEST (PoseConversions, reference_frame_change_with_rotations)
void	check_CPose3D_tofrom_ROS (double x, double y, double z, double yaw, double pitch, double roll)
	TEST (PoseConversions, check_CPose3D_tofrom_ROS)
	TEST (PoseConversions, check_CPose2D_to_ROS)

Function Documentation

check_CPose3D_tofrom_ROS()

void check_CPose3D_tofrom_ROS	(	double	x,
		double	y,
		double	z,
		double	yaw,
		double	pitch,
		double	roll
	)

Definition at line 100 of file pose_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), EXPECT_NEAR(), mrpt::ros1bridge::fromROS(), mrpt::poses::CPose3D::getAsQuaternion(), mrpt::obs::gnss::pitch, mrpt::math::CQuaternion< T >::r(), mrpt::obs::gnss::roll, mrpt::ros1bridge::toROS_Pose(), mrpt::math::CQuaternion< T >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), mrpt::math::CQuaternion< T >::y(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y(), and mrpt::math::CQuaternion< T >::z().

Referenced by TEST().

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TEST() [1/5]

TEST	(	PoseConversions	,
		copyMatrix3x3ToCMatrixDouble33
	)

Definition at line 30 of file pose_unittest.cpp.

References mrpt::ros1bridge::fromROS().

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TEST() [2/5]

TEST	(	PoseConversions	,
		copyCMatrixDouble33ToMatrix3x3
	)

Definition at line 38 of file pose_unittest.cpp.

References mrpt::ros1bridge::toROS().

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TEST	(	PoseConversions	,
		reference_frame_change_with_rotations
	)

Definition at line 51 of file pose_unittest.cpp.

References mrpt::ros1bridge::convert(), EXPECT_EQ(), EXPECT_NEAR(), mrpt::ros1bridge::fromROS(), M_PI, mrpt::poses::CPose3DPDFGaussian::mean, and mrpt::poses::CPose3D::setFromValues().

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TEST() [4/5]

TEST	(	PoseConversions	,
		check_CPose3D_tofrom_ROS
	)

Definition at line 133 of file pose_unittest.cpp.

References check_CPose3D_tofrom_ROS(), mrpt::DEG2RAD(), and mrpt::RAD2DEG().

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TEST	(	PoseConversions	,
		check_CPose2D_to_ROS
	)

Definition at line 150 of file pose_unittest.cpp.

References mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::asVectorVal(), EXPECT_NEAR(), mrpt::ros1bridge::fromROS(), and mrpt::ros1bridge::toROS_Pose().

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