Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Reenable Eigen tests #424

Closed
wants to merge 2 commits into from
Closed

Reenable Eigen tests #424

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
aee5a71
Reenable Eigen tests
gleichdick Feb 12, 2021
19ad46b
add more includes
gleichdick May 27, 2021
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
125 changes: 68 additions & 57 deletions tf2_eigen/test/tf2_eigen-test.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,72 +35,83 @@
#endif

#include <gtest/gtest.h>
#include <geometry_msgs/msg/point.hpp>
#include <geometry_msgs/msg/point_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <rclcpp/clock.hpp>
#include <tf2/convert.h>
#include <tf2/transform_datatypes.h>
#include <tf2_eigen/tf2_eigen.hpp>
#include <tf2_ros/buffer.h>
#include <tf2_ros/transform_listener.h>

#include <Eigen/Geometry>

#include <cmath>
#include <memory>

// TODO(clalancette) Re-enable these tests once we have tf2/convert.h:convert(A, B) implemented
// TEST(TfEigen, ConvertVector3dStamped)
// {
// const tf2::Stamped<Eigen::Vector3d> v(Eigen::Vector3d(1,2,3),
// tf2::TimePoint(std::chrono::seconds(5)), "test");

// tf2::Stamped<Eigen::Vector3d> v1;
// geometry_msgs::msg::PointStamped p1;
// tf2::convert(v, p1);
// tf2::convert(p1, v1);

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

// TEST(TfEigen, ConvertVector3d)
// {
// const Eigen::Vector3d v(1,2,3);

// Eigen::Vector3d v1;
// geometry_msgs::msg::Point p1;
// tf2::convert(v, p1);
// tf2::convert(p1, v1);

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

// TEST(TfEigen, ConvertAffine3dStamped)
// {
// const Eigen::Affine3d v_nonstamped(
// Eigen::Translation3d(1,2,3) * Eigen::AngleAxis<double>(1, Eigen::Vector3d::UnitX()));
// const tf2::Stamped<Eigen::Affine3d> v(
// v_nonstamped, tf2::TimePoint(std::chrono::seconds(42)), "test_frame");

// tf2::Stamped<Eigen::Affine3d> v1;
// geometry_msgs::msg::PoseStamped p1;
// tf2::convert(v, p1);
// tf2::convert(p1, v1);

// EXPECT_EQ(v.translation(), v1.translation());
// EXPECT_EQ(v.rotation(), v1.rotation());
// EXPECT_EQ(v.frame_id_, v1.frame_id_);
// EXPECT_EQ(v.stamp_, v1.stamp_);
// }

// TEST(TfEigen, ConvertAffine3d)
// {
// const Eigen::Affine3d v(
// Eigen::Translation3d(1,2,3) * Eigen::AngleAxis<double>(1, Eigen::Vector3d::UnitX()));

// Eigen::Affine3d v1;
// geometry_msgs::msg::Pose p1;
// tf2::convert(v, p1);
// tf2::convert(p1, v1);

// EXPECT_EQ(v.translation(), v1.translation());
// EXPECT_EQ(v.rotation(), v1.rotation());
// }
TEST(TfEigen, ConvertVector3dStamped)
{
const tf2::Stamped<Eigen::Vector3d> v(Eigen::Vector3d(1, 2, 3), tf2::TimePoint(
std::chrono::seconds(
5)), "test");

tf2::Stamped<Eigen::Vector3d> v1;
geometry_msgs::msg::PointStamped p1;
tf2::convert(v, p1);
tf2::convert(p1, v1);

EXPECT_EQ(v, v1);
}

TEST(TfEigen, ConvertVector3d)
{
const Eigen::Vector3d v(1, 2, 3);

Eigen::Vector3d v1;
geometry_msgs::msg::Point p1;
tf2::convert(v, p1);
tf2::convert(p1, v1);

EXPECT_EQ(v, v1);
}

TEST(TfEigen, ConvertAffine3dStamped)
{
const Eigen::Affine3d v_nonstamped(Eigen::Translation3d(1, 2, 3) * Eigen::AngleAxis<double>(
1,
Eigen::Vector3d::UnitX()));
const tf2::Stamped<Eigen::Affine3d> v(v_nonstamped, tf2::TimePoint(
std::chrono::seconds(
42)), "test_frame");

tf2::Stamped<Eigen::Affine3d> v1;
geometry_msgs::msg::PoseStamped p1;
tf2::convert(v, p1);
tf2::convert(p1, v1);

EXPECT_EQ(v.translation(), v1.translation());
EXPECT_EQ(v.rotation(), v1.rotation());
EXPECT_EQ(v.frame_id_, v1.frame_id_);
EXPECT_EQ(v.stamp_, v1.stamp_);
}

TEST(TfEigen, ConvertAffine3d)
{
const Eigen::Affine3d v(Eigen::Translation3d(1, 2, 3) * Eigen::AngleAxis<double>(
1,
Eigen::Vector3d::UnitX()));

Eigen::Affine3d v1;
geometry_msgs::msg::Pose p1;
tf2::convert(v, p1);
tf2::convert(p1, v1);

EXPECT_EQ(v.translation(), v1.translation());
EXPECT_EQ(v.rotation(), v1.rotation());
}

TEST(TfEigen, ConvertTransform)
{
Expand Down