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fix vec bug, added support for PoseWithCovariance #24

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Merged
jorgenfj merged 1 commit into from
Dec 21, 2025
Merged

fix vec bug, added support for PoseWithCovariance #24

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69 changes: 69 additions & 0 deletions cpp_test/test_ros_conversions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -148,6 +148,75 @@ TEST(ros_to_pose_vec, pose) {
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
}

TEST(ros_to_pose_vec, pose_stamped) {
geometry_msgs::msg::PoseStamped p;
p.pose.position.x = 1;
p.pose.position.y = 2;
p.pose.position.z = 3;
p.pose.orientation.w = 1;
p.pose.orientation.x = 0;
p.pose.orientation.y = 0;
p.pose.orientation.z = 0;

auto v = vortex::utils::ros_conversions::ros_to_pose_vec(p);

ASSERT_EQ(v.size(), 1);
EXPECT_NEAR(v[0].x, 1.0, 1e-6);
EXPECT_NEAR(v[0].y, 2.0, 1e-6);
EXPECT_NEAR(v[0].z, 3.0, 1e-6);

EXPECT_NEAR(v[0].qw, 1.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
}

TEST(ros_to_pose_vec, pose_with_covariance) {
geometry_msgs::msg::PoseWithCovariance p;
p.pose.position.x = 1;
p.pose.position.y = 2;
p.pose.position.z = 3;
p.pose.orientation.w = 1;
p.pose.orientation.x = 0;
p.pose.orientation.y = 0;
p.pose.orientation.z = 0;

auto v = vortex::utils::ros_conversions::ros_to_pose_vec(p);

ASSERT_EQ(v.size(), 1);
EXPECT_NEAR(v[0].x, 1.0, 1e-6);
EXPECT_NEAR(v[0].y, 2.0, 1e-6);
EXPECT_NEAR(v[0].z, 3.0, 1e-6);

EXPECT_NEAR(v[0].qw, 1.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
}

TEST(ros_to_pose_vec, pose_with_covariance_stamped) {
geometry_msgs::msg::PoseWithCovarianceStamped p;
p.pose.pose.position.x = 1;
p.pose.pose.position.y = 2;
p.pose.pose.position.z = 3;
p.pose.pose.orientation.w = 1;
p.pose.pose.orientation.x = 0;
p.pose.pose.orientation.y = 0;
p.pose.pose.orientation.z = 0;

auto v = vortex::utils::ros_conversions::ros_to_pose_vec(p);

ASSERT_EQ(v.size(), 1);
EXPECT_NEAR(v[0].x, 1.0, 1e-6);
EXPECT_NEAR(v[0].y, 2.0, 1e-6);
EXPECT_NEAR(v[0].z, 3.0, 1e-6);

EXPECT_NEAR(v[0].qw, 1.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
EXPECT_NEAR(v[0].qz, 0.0, 1e-6);
}

TEST(ros_to_pose_vec, pose_array) {
geometry_msgs::msg::PoseArray arr;
arr.poses.resize(2);
Expand Down
13 changes: 11 additions & 2 deletions include/vortex/utils/ros_conversions.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,7 @@
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/pose_array.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/pose_with_covariance.hpp>
#include <geometry_msgs/msg/pose_with_covariance_stamped.hpp>

#include "concepts.hpp"
Expand Down Expand Up @@ -39,6 +40,8 @@ concept same_bare_as = std::same_as<std::remove_cvref_t<T>, U>;
*
* - `geometry_msgs::msg::PoseStamped`
*
* - `geometry_msgs::msg::PoseWithCovariance`
*
* - `geometry_msgs::msg::PoseWithCovarianceStamped`
*
* - `geometry_msgs::msg::PoseArray`
Expand All @@ -49,6 +52,7 @@ template <typename T>
concept ROSPoseLike =
same_bare_as<T, geometry_msgs::msg::Pose> ||
same_bare_as<T, geometry_msgs::msg::PoseStamped> ||
same_bare_as<T, geometry_msgs::msg::PoseWithCovariance> ||
same_bare_as<T, geometry_msgs::msg::PoseWithCovarianceStamped> ||
same_bare_as<T, geometry_msgs::msg::PoseArray>;

Expand Down Expand Up @@ -140,6 +144,8 @@ inline vortex::utils::types::Pose ros_pose_to_pose(
*
* - `geometry_msgs::msg::PoseStamped`
*
* - `geometry_msgs::msg::PoseWithCovariance`
*
* - `geometry_msgs::msg::PoseWithCovarianceStamped`
*
* - `geometry_msgs::msg::PoseArray`
Expand All @@ -156,11 +162,14 @@ std::vector<vortex::utils::types::Pose> ros_to_pose_vec(const T& msg) {
if constexpr (same_bare_as<T, geometry_msgs::msg::Pose>) {
return {ros_pose_to_pose(msg)};
} else if constexpr (same_bare_as<T, geometry_msgs::msg::PoseStamped>) {
return ros_pose_to_pose(msg.pose);
return {ros_pose_to_pose(msg.pose)};
} else if constexpr (same_bare_as<T,
geometry_msgs::msg::PoseWithCovariance>) {
return {ros_pose_to_pose(msg.pose)};
} else if constexpr (same_bare_as<
T,
geometry_msgs::msg::PoseWithCovarianceStamped>) {
return ros_pose_to_pose(msg.pose.pose);
return {ros_pose_to_pose(msg.pose.pose)};
} else if constexpr (same_bare_as<T, geometry_msgs::msg::PoseArray>) {
std::vector<vortex::utils::types::Pose> poses;
poses.reserve(msg.poses.size());
Expand Down