MRPT  2.0.4
FrameTransformer_unittest.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include <gtest/gtest.h>
11 #include <mrpt/poses/CPose2D.h>
12 #include <mrpt/poses/CPose3D.h>
14 #include <Eigen/Dense>
15 
16 template <int DIM>
18 {
19  using namespace mrpt::poses;
20 
22 
23  // Pub:
24  const auto real_A2B = (typename FrameTransformer<DIM>::pose_t)(A2B_);
25  tf.sendTransform("A", "B", real_A2B);
26 
27  // Read:
28  {
29  typename FrameTransformer<DIM>::pose_t A2B_looked_up;
30  const auto ret = tf.lookupTransform("B", "A", A2B_looked_up);
33  .0,
34  (real_A2B.asVectorVal() - A2B_looked_up.asVectorVal())
35  .array()
36  .abs()
37  .sum(),
38  1e-6);
39  }
40 }
41 
42 TEST(FrameTransformer, SimplePublishAndLookup)
43 {
44  const mrpt::poses::CPose2D test_A2B(5.0, 2.0, 0.3);
45 
46  run_tf_test1<2>(test_A2B);
47  run_tf_test1<3>(test_A2B);
48 }
TEST(FrameTransformer, SimplePublishAndLookup)
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
Definition: CPose2D.h:39
EXPECT_EQ(out.image_pair_was_used.size(), NUM_IMGS)
See docs in FrameTransformerInterface.
void sendTransform(const std::string &parent_frame, const std::string &child_frame, const typename base_t::pose_t &child_wrt_parent, const mrpt::system::TTimeStamp &timestamp=mrpt::system::now()) override
EXPECT_NEAR(out.cam_params.rightCameraPose.x, 0.1194, 0.005)
void run_tf_test1(const mrpt::poses::CPose2D &A2B_)
FrameLookUpStatus lookupTransform(const std::string &target_frame, const std::string &source_frame, typename base_t::light_type &child_wrt_parent, const mrpt::system::TTimeStamp query_time=INVALID_TIMESTAMP, const double timeout_secs=.0) override
Queries the current pose of target_frame wrt ("as seen from") source_frame.



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