40 lines
1.3 KiB
C++
40 lines
1.3 KiB
C++
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/transform/timestamped_transform.h"
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#include "cartographer/transform/rigid_transform_test_helpers.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace transform {
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namespace {
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TEST(TimestampedTransformTest, ToProtoAndBack) {
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const TimestampedTransform expected{
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common::FromUniversal(12345678),
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Rigid3d(Eigen::Vector3d(1., 2., 3.),
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Eigen::Quaterniond(1., 2., 3., 4.).normalized())};
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const TimestampedTransform actual = FromProto(ToProto(expected));
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EXPECT_EQ(expected.time, actual.time);
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EXPECT_THAT(actual.transform, IsNearly(expected.transform, 1e-6));
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}
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} // namespace
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} // namespace transform
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} // namespace cartographer
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