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Reenable Eigen tests #424

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Reenable Eigen tests #424

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aee5a71
Reenable Eigen tests
gleichdick Feb 12, 2021
19ad46b
add more includes
gleichdick May 27, 2021
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125 changes: 68 additions & 57 deletions tf2_eigen/test/tf2_eigen-test.cpp
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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