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Restoring tf2_eigen Tests #670

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Restoring tf2_eigen Tests #670

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e6c4a9e
Adding Tests
CursedRock17 Apr 7, 2024
9e57678
Fixing uncrustify
CursedRock17 Apr 7, 2024
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42 changes: 20 additions & 22 deletions tf2_eigen/test/tf2_eigen-test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -80,18 +80,17 @@ TEST(TfEigen, ConvertVector3dStamped)
EXPECT_EQ(v, v1);
}

// TODO(clalancette) Re-enable these tests once we have tf2/convert.h:convert(A, B) implemented
// TEST(TfEigen, ConvertVector3d)
// {
// const Eigen::Vector3d v(1,2,3);
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);
Eigen::Vector3d v1;
geometry_msgs::msg::Point p1;
tf2::convert(v, p1);
tf2::convert(p1, v1);

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

TEST(TfEigen, ConvertAffine3dStamped)
{
Expand All @@ -111,20 +110,19 @@ TEST(TfEigen, ConvertAffine3dStamped)
EXPECT_EQ(v.stamp_, v1.stamp_);
}

// TODO(clalancette) Re-enable these tests once we have tf2/convert.h:convert(A, B) implemented
// TEST(TfEigen, ConvertAffine3d)
// {
// const Eigen::Affine3d v(
// Eigen::Translation3d(1,2,3) * Eigen::AngleAxis<double>(1, Eigen::Vector3d::UnitX()));
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);
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());
// }
EXPECT_EQ(v.translation(), v1.translation());
EXPECT_EQ(v.rotation(), v1.rotation());
}

TEST(TfEigen, ConvertTransform)
{
Expand Down