FrameTransformer_unittest.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

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

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

    FrameTransformer<DIM> tf;

    // Pub:
    const auto 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.asVectorVal() - A2B_looked_up.asVectorVal())
                .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);
}