verbose message testing

test_tf2/test/test_convert.cpp

@@ -34,13 +34,65 @@
 *
 * Author: Eitan Marder-Eppstein
 *********************************************************************/
+
+#include <geometry_msgs/msg/vector3_stamped.hpp>
 #include <gtest/gtest.h>
 #include <tf2/convert.h>
 #include <tf2_eigen/tf2_eigen.hpp>
 #include <tf2_bullet/tf2_bullet.hpp>
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 #include <tf2_kdl/tf2_kdl.hpp>
 
+
+// test of tf2 type traits
+static_assert(
+  !tf2::impl::MessageHasStdHeader<geometry_msgs::msg::Vector3>::value,
+  "MessageHasStdHeader traits error");
+static_assert(
+  tf2::impl::MessageHasStdHeader<geometry_msgs::msg::Vector3Stamped>::value,
+  "MessageHasStdHeader traits error");
+
+namespace
+{
+struct MyPODMessage
+{
+  int header;
+};
+
+template<typename Alloc>
+struct MyAllocMessage
+{
+  int header;
+};
+
+static_assert(
+  !tf2::impl::MessageHasStdHeader<MyPODMessage>::value,
+  "MessageHasStdHeader traits error");
+
+template<typename T>
+struct MyAllocator
+{
+  using value_type = T;
+  using size_type = unsigned int;
+  T * allocate(size_type);
+  void deallocate(T *, size_type);
+  template<class U>
+  struct rebind { typedef MyAllocator<U> other; };
+};
+using MyVec = geometry_msgs::msg::Vector3_<MyAllocator<void>>;
+using MyVecStamped = geometry_msgs::msg::Vector3Stamped_<MyAllocator<void>>;
+using MyMessage = MyAllocMessage<MyAllocator<void>>;
+
+static_assert(!tf2::impl::MessageHasStdHeader<MyVec>::value, "MessageHasStdHeader traits error");
+static_assert(
+  tf2::impl::MessageHasStdHeader<MyVecStamped>::value,
+  "MessageHasStdHeader traits error");
+
+static_assert(
+  !tf2::impl::MessageHasStdHeader<MyMessage>::value,
+  "MessageHasStdHeader traits error");
+}  // namespace
+
 using Vector6d = Eigen::Matrix<double, 6, 1>;
 
 TEST(tf2Convert, kdlToBullet)
@@ -245,7 +297,6 @@ TEST(TfEigenKdl, TestTwistMatrix)
   EXPECT_EQ(kdl_v, kdl_v1);
 }
 
-
 TEST(TfEigenKdl, TestMatrixWrench)
 {
   Vector6d eigen_v;
@@ -263,7 +314,6 @@ TEST(TfEigenKdl, TestMatrixWrench)
   EXPECT_EQ(eigen_v, eigen_v2);
 }
 
-
 TEST(TfEigenKdl, TestVectorVector3d)
 {
   const auto kdl_v = KDL::Vector(1, 2, 3);