rebase

2023-05-09 01:18:10 +08:00
parent c2f252dce6
commit a00f111d7f
381 changed files with 0 additions and 56233 deletions
--- a/src/geometry2/tf2_geometry_msgs/scripts/test.py
+++ b/src/geometry2/tf2_geometry_msgs/scripts/test.py
@@ -1,100 +0,0 @@
-#!/usr/bin/env python
-
-import unittest
-import rospy
-import PyKDL
-import tf2_ros
-import tf2_geometry_msgs
-from geometry_msgs.msg import TransformStamped, PointStamped, Vector3Stamped, PoseStamped, WrenchStamped
-
-class GeometryMsgs(unittest.TestCase):
-    def test_transform(self):
-        b = tf2_ros.Buffer()
-        t = TransformStamped()
-        t.transform.translation.x = 1
-        t.transform.rotation.x = 1
-        t.header.stamp = rospy.Time(2.0)
-        t.header.frame_id = 'a'
-        t.child_frame_id = 'b'
-        b.set_transform(t, 'eitan_rocks')
-        out = b.lookup_transform('a','b', rospy.Time(2.0), rospy.Duration(2.0))
-        self.assertEqual(out.transform.translation.x, 1)
-        self.assertEqual(out.transform.rotation.x, 1)
-        self.assertEqual(out.header.frame_id, 'a')
-        self.assertEqual(out.child_frame_id, 'b')
-
-        v = PointStamped()
-        v.header.stamp = rospy.Time(2)
-        v.header.frame_id = 'a'
-        v.point.x = 1
-        v.point.y = 2
-        v.point.z = 3
-        out = b.transform(v, 'b')
-        self.assertEqual(out.point.x, 0)
-        self.assertEqual(out.point.y, -2)
-        self.assertEqual(out.point.z, -3)
-
-        v = PoseStamped()
-        v.header.stamp = rospy.Time(2)
-        v.header.frame_id = 'a'
-        v.pose.position.x = 1
-        v.pose.position.y = 2
-        v.pose.position.z = 3
-        v.pose.orientation.x = 1
-        out = b.transform(v, 'b')
-        self.assertEqual(out.pose.position.x, 0)
-        self.assertEqual(out.pose.position.y, -2)
-        self.assertEqual(out.pose.position.z, -3)
-
-        # Translation shouldn't affect Vector3
-        t = TransformStamped()
-        t.transform.translation.x = 1
-        t.transform.translation.y = 2
-        t.transform.translation.z = 3
-        t.transform.rotation.w = 1
-        v = Vector3Stamped()
-        v.vector.x = 1
-        v.vector.y = 0
-        v.vector.z = 0
-        out = tf2_geometry_msgs.do_transform_vector3(v, t)
-        self.assertEqual(out.vector.x, 1)
-        self.assertEqual(out.vector.y, 0)
-        self.assertEqual(out.vector.z, 0)
-
-        # Rotate Vector3 180 deg about y
-        t = TransformStamped()
-        t.transform.translation.x = 1
-        t.transform.translation.y = 2
-        t.transform.translation.z = 3
-        t.transform.rotation.y = 1
-
-        v = Vector3Stamped()
-        v.vector.x = 1
-        v.vector.y = 0
-        v.vector.z = 0
-
-        out = tf2_geometry_msgs.do_transform_vector3(v, t)
-        self.assertEqual(out.vector.x, -1)
-        self.assertEqual(out.vector.y, 0)
-        self.assertEqual(out.vector.z, 0)
-
-        v = WrenchStamped()
-        v.wrench.force.x = 1
-        v.wrench.force.y = 0
-        v.wrench.force.z = 0
-        v.wrench.torque.x = 1
-        v.wrench.torque.y = 0
-        v.wrench.torque.z = 0
-
-        out = tf2_geometry_msgs.do_transform_wrench(v, t)
-        self.assertEqual(out.wrench.force.x, -1)
-        self.assertEqual(out.wrench.force.y, 0)
-        self.assertEqual(out.wrench.force.z, 0)
-        self.assertEqual(out.wrench.torque.x, -1)
-        self.assertEqual(out.wrench.torque.y, 0)
-        self.assertEqual(out.wrench.torque.z, 0)
-
-if __name__ == '__main__':
-    import rosunit
-    rospy.init_node('test_tf2_geometry_msgs_python')
-    rosunit.unitrun("test_tf2_geometry_msgs", "test_tf2_geometry_msgs_python", GeometryMsgs)