public void ReceiveTF_FrameWithParent_ReturnsSameTranslation()
{
ROSConnection ros = ROSConnection.GetOrCreateInstance();
ros.ConnectOnStart = false;
TFSystem system = TFSystem.GetOrCreateInstance();
TFSystem.TFTopicState topic = system.GetOrCreateTFTopic();
TFStream stream = system.GetOrCreateFrame(composite_frame_id);
Assert.AreEqual(stream.Name, simple_frame_id);
Assert.AreEqual(stream.Parent.Name, parent_frame_id);
TimeMsg time = MakeTimeMsg(4567, 890);
Vector3 unityPosition = new Vector3(1, 2, 3);
topic.ReceiveTF(new TFMessageMsg(new TransformStampedMsg[] { new TransformStampedMsg(
MakeHeaderMsg(time, parent_frame_id),
composite_frame_id,
new TransformMsg(unityPosition.To <FLU>(), new QuaternionMsg()
)) }));
TFFrame frame = stream.GetWorldTF(time.ToLongTime());
Assert.AreEqual(frame.translation.x, unityPosition.x);
Assert.AreEqual(frame.translation.y, unityPosition.y);
Assert.AreEqual(frame.translation.z, unityPosition.z);
Vector3 gameObjectPos = stream.GameObject.transform.position;
Assert.AreEqual(gameObjectPos.x, unityPosition.x);
Assert.AreEqual(gameObjectPos.y, unityPosition.y);
Assert.AreEqual(gameObjectPos.z, unityPosition.z);
}
public TFFrame GetWorldTF(TimeMsg time)
{
return(GetWorldTF(time.ToLongTime()));
}
public TFFrame GetTransform(string frame_id, TimeMsg time, string tfTopic = "/tf")
{
return(GetTransform(frame_id, time.ToLongTime(), tfTopic));
}
public TFFrame GetLocalTF(TimeMsg time)
{
return(GetLocalTF(time.ToLongTime()));
}