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gleichdickgleichdick
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Geometry nitpicks (#426)
* [tf2_geometry_msgs] pep8 formatting * [tf2_geometry_msgs] fix copyright * tf2_geometry_msgs header guard and copyright * More flake8 stuff Co-authored-by: Bjar Ne <[email protected]>
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‎tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h‎

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@@ -1,39 +1,39 @@
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/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// Copyright 2008 Willow Garage, Inc.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the Willow Garage, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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/** \author Wim Meeussen */
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#ifndef TF2_GEOMETRY_MSGS_H
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#define TF2_GEOMETRY_MSGS_H
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#ifndef TF2_GEOMETRY_MSGS__TF2_GEOMETRY_MSGS_H_
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#define TF2_GEOMETRY_MSGS__TF2_GEOMETRY_MSGS_H_
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#warning This header is obsolete, please include tf2_geometry_msgs/tf2_geometry_msgs.hpp instead
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#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
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#endif // TF2_GEOMETRY_MSGS_H
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#endif // TF2_GEOMETRY_MSGS__TF2_GEOMETRY_MSGS_H_

‎tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.hpp‎

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@@ -1,31 +1,31 @@
1-
/*
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* Copyright (c) 2008, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* * Redistributions of source code must retain the above copyright
9-
* notice, this list of conditions and the following disclaimer.
10-
* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the Willow Garage, Inc. nor the names of its
14-
* contributors may be used to endorse or promote products derived from
15-
* this software without specific prior written permission.
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*
17-
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18-
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20-
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// Copyright 2008 Willow Garage, Inc.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the Willow Garage, Inc. nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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/** \author Wim Meeussen */
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‎tf2_geometry_msgs/scripts/test.py‎

Lines changed: 41 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -1,13 +1,46 @@
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#!/usr/bin/env python3
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# Copyright 2008 Willow Garage, Inc.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of the Willow Garage, Inc. nor the names of its
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# contributors may be used to endorse or promote products derived from
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# this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
22+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
27+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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import unittest
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34+
from geometry_msgs.msg import (PointStamped, PoseStamped,
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PoseWithCovarianceStamped, Quaternion,
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TransformStamped, Vector3Stamped)
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import rclpy
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import PyKDL
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import tf2_ros
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import tf2_geometry_msgs
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from geometry_msgs.msg import TransformStamped, PointStamped, Vector3Stamped, PoseStamped, PoseWithCovarianceStamped, Quaternion
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import tf2_ros
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class GeometryMsgs(unittest.TestCase):
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1144
def test_transform(self):
1245
b = tf2_ros.Buffer()
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t = TransformStamped()
@@ -17,7 +50,9 @@ def test_transform(self):
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t.header.frame_id = 'a'
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t.child_frame_id = 'b'
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b.set_transform(t, 'eitan_rocks')
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out = b.lookup_transform('a','b', rclpy.time.Time(seconds=2.0).to_msg(), rclpy.time.Duration(seconds=2))
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out = b.lookup_transform('a', 'b',
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rclpy.time.Time(seconds=2.0).to_msg(),
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rclpy.time.Duration(seconds=2))
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self.assertEqual(out.transform.translation.x, 1)
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self.assertEqual(out.transform.rotation.x, 1)
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self.assertEqual(out.header.frame_id, 'a')
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v.point.y = 2.0
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v.point.z = 3.0
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# b.registration.add(PointStamped)
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out = b.transform(v, 'b', new_type = PointStamped)
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out = b.transform(v, 'b', new_type=PointStamped)
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self.assertEqual(out.point.x, 0)
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self.assertEqual(out.point.y, -2)
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self.assertEqual(out.point.z, -3)
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100135
self.assertEqual(out.vector.y, 0)
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self.assertEqual(out.vector.z, 0)
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103139
if __name__ == '__main__':
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rclpy.init(args=None)
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unittest.main()

‎tf2_geometry_msgs/src/tf2_geometry_msgs/__init__.py‎

Lines changed: 30 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -1 +1,30 @@
1-
from .tf2_geometry_msgs import *
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# Copyright 2008 Willow Garage, Inc.
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#
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# Redistribution and use in source and binary forms, with or without
4+
# modification, are permitted provided that the following conditions are met:
5+
#
6+
# * Redistributions of source code must retain the above copyright
7+
# notice, this list of conditions and the following disclaimer.
8+
#
9+
# * Redistributions in binary form must reproduce the above copyright
10+
# notice, this list of conditions and the following disclaimer in the
11+
# documentation and/or other materials provided with the distribution.
12+
#
13+
# * Neither the name of the Willow Garage, Inc. nor the names of its
14+
# contributors may be used to endorse or promote products derived from
15+
# this software without specific prior written permission.
16+
#
17+
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18+
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19+
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20+
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
21+
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22+
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23+
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24+
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25+
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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from .tf2_geometry_msgs import * # noqa

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