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wxchen
2023-05-09 01:18:10 +08:00
parent c2f252dce6
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src/geometry2/test_tf2/test/test_convert.py
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#! /usr/bin/env python
#***********************************************************
#* Software License Agreement (BSD License)
#*
#* Copyright (c) 2009, Willow Garage, Inc.
#* All rights reserved.
#*
#* Redistribution and use in source and binary forms, with or without
#* modification, are permitted provided that the following conditions
#* are met:
#*
#* * Redistributions of source code must retain the above copyright
#* notice, this list of conditions and the following disclaimer.
#* * Redistributions in binary form must reproduce the above
#* copyright notice, this list of conditions and the following
#* disclaimer in the documentation and/or other materials provided
#* with the distribution.
#* * Neither the name of Willow Garage, Inc. nor the names of its
#* contributors may be used to endorse or promote products derived
#* from this software without specific prior written permission.
#*
#* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#* POSSIBILITY OF SUCH DAMAGE.
#*
#* Author: Eitan Marder-Eppstein
#***********************************************************
from __future__ import print_function
PKG = 'test_tf2'
import sys
import unittest
import tf2_py as tf2
import tf2_ros
import tf2_geometry_msgs
from geometry_msgs.msg import PointStamped
import rospy
import tf2_kdl
import PyKDL
class TestConvert(unittest.TestCase):
def test_convert(self):
p = tf2_ros.Stamped(PyKDL.Vector(1, 2, 3), rospy.Time(), 'my_frame')
print(p)
msg = tf2_ros.convert(p, PointStamped)
print(msg)
p2 = tf2_ros.convert(msg, PyKDL.Vector)
print(p2)
p2[0] = 100
print(p)
print(p2)
print(p2.header)
if __name__ == '__main__':
import rostest
rostest.unitrun(PKG, 'test_buffer_client', TestConvert)