Fawkes API
Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * qa_tf_transformer.cpp - QA for tf transformer 00004 * 00005 * Created: Thu Oct 20 18:18:39 2011 00006 * Copyright 2011 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 // Do not include in api reference 00025 ///@cond QA 00026 00027 #include <tf/transformer.h> 00028 #include <cstdio> 00029 00030 using namespace fawkes::tf; 00031 00032 int 00033 main(int argc, char **argv) 00034 { 00035 00036 printf("Populating data\n"); 00037 Quaternion q(0, 0, 0, 1); 00038 Vector3 v(1, 0, 0); 00039 Transform t(q, v); 00040 00041 fawkes::Time time; 00042 00043 StampedTransform st(t, time, "/world", "/robot"); 00044 00045 printf("Setting transform\n"); 00046 Transformer transformer; 00047 transformer.set_transform(st); 00048 00049 printf("Looking up transform\n"); 00050 StampedTransform res; 00051 transformer.lookupTransform("/robot", "/world", time, res); 00052 00053 Quaternion res_q(res.getRotation()); 00054 Vector3 res_v(res.getOrigin()); 00055 printf("Read transform Q (%f,%f,%f,%f) V (%f,%f,%f)\n", 00056 res_q.x(), res_q.y(), res_q.z(), res_q.w(), 00057 res_v.x(), res_v.y(), res_v.z()); 00058 printf("Done\n"); 00059 00060 return 0; 00061 } 00062 00063 /// @endcond