test_utility.hpp

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// Copyright 2024 Kotaro Uetake.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef AWVIZ_COMMON__TEST__TRANSFORMATION__TEST_UTILITY_HPP_
#define AWVIZ_COMMON__TEST__TRANSFORMATION__TEST_UTILITY_HPP_
 
#include <rclcpp/rclcpp.hpp>
 
#include <geometry_msgs/msg/transform_stamped.hpp>
 
#include <string>
 
inline geometry_msgs::msg::TransformStamped make_transform(
  const std::string & parent, const std::string & child, const rclcpp::Time & stamp)
{
  geometry_msgs::msg::TransformStamped tf;
  tf.header.stamp = stamp;
  tf.header.frame_id = parent;
  tf.child_frame_id = child;
  tf.transform.translation.x = 1.0;
  tf.transform.translation.y = 2.0;
  tf.transform.translation.z = 3.0;
  tf.transform.rotation.w = 1.0;
  tf.transform.rotation.x = 0.0;
  tf.transform.rotation.y = 0.0;
  tf.transform.rotation.z = 0.0;
  return tf;
}
 
#endif