def mock_frame():
rbm.register_frame("world")
def _mock_frame(
t=None,
r=None,
ts=None,
name="mock",
parent="world",
inverse=False,
discrete=False,
):
""""""
if t is None and r is None:
t = (0.0, 0.0, 0.0)
r = (1.0, 0.0, 0.0, 0.0)
return rbm.ReferenceFrame(name, parent, t, r, ts, inverse, discrete)
yield _mock_frame
rbm.clear_registry()
def test_constructor(
self,
ReferenceFrameTransformBroadcaster,
register_rf_tree,
head_rf_tree,
):
""""""
# moving frame
broadcaster = ReferenceFrameTransformBroadcaster(
"head", publish_pose=True, publish_twist=True
)
assert broadcaster.frame.name == "head"
assert broadcaster.base.name == "world"
assert broadcaster.pose_publisher is not None
assert broadcaster.twist_publisher is not None
# static frame
rbm.clear_registry()
register_rf_tree()
broadcaster = ReferenceFrameTransformBroadcaster("child1")
assert broadcaster.frame.name == "child1"
assert broadcaster.base.name == "world"
def clear_registry():
""""""
rbm.clear_registry()
yield
def test_clear_registry(self):
""""""
rbm.register_frame("world")
rbm.clear_registry()
assert len(rbm.registry) == 0