78 lines
2.6 KiB
C++
78 lines
2.6 KiB
C++
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/*
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* Copyright 2016 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/sensor/landmark_data.h"
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#include <cmath>
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#include "cartographer/sensor/internal/test_helpers.h"
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#include "cartographer/transform/rigid_transform_test_helpers.h"
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#include "cartographer/transform/transform.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace sensor {
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namespace {
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using ::testing::DoubleNear;
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using ::testing::Field;
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::testing::Matcher<const LandmarkObservation&> EqualsLandmark(
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const LandmarkObservation& expected) {
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return ::testing::AllOf(
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Field(&LandmarkObservation::id, expected.id),
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Field(&LandmarkObservation::landmark_to_tracking_transform,
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transform::IsNearly(expected.landmark_to_tracking_transform, 1e-2)),
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Field(&LandmarkObservation::translation_weight,
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DoubleNear(expected.translation_weight, 0.01)),
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Field(&LandmarkObservation::rotation_weight,
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DoubleNear(expected.rotation_weight, 0.01)));
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}
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class LandmarkDataTest : public ::testing::Test {
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protected:
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LandmarkDataTest()
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: observations_(
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{{
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"ID1",
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transform::Rigid3d(Eigen::Vector3d(1., 1., 1.),
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Eigen::Quaterniond(1., 1., -1., -1.)),
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1.f,
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3.f,
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},
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{
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"ID2",
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transform::Rigid3d(Eigen::Vector3d(2., 2., 2.),
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Eigen::Quaterniond(2., 2., -2., -2.)),
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2.f,
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4.f,
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}}) {}
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std::vector<LandmarkObservation> observations_;
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};
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TEST_F(LandmarkDataTest, LandmarkDataToAndFromProto) {
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const auto expected = LandmarkData{common::FromUniversal(50), observations_};
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const auto actual = FromProto(ToProto(expected));
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EXPECT_EQ(expected.time, actual.time);
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EXPECT_THAT(actual.landmark_observations,
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ElementsAre(EqualsLandmark(expected.landmark_observations[0]),
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EqualsLandmark(expected.landmark_observations[1])));
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}
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} // namespace
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} // namespace sensor
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} // namespace cartographer
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