52 lines
1.6 KiB
C
52 lines
1.6 KiB
C
|
/*
|
||
|
|
* Copyright 2016 The Cartographer Authors
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*/
|
||
|
|
|
||
|
|
#ifndef CARTOGRAPHER_TRANSFORM_RIGID_TRANSFORM_TEST_HELPERS_H_
|
||
|
|
#define CARTOGRAPHER_TRANSFORM_RIGID_TRANSFORM_TEST_HELPERS_H_
|
||
|
|
|
||
|
|
#include <string>
|
||
|
|
|
||
|
|
#include "Eigen/Core"
|
||
|
|
#include "Eigen/Geometry"
|
||
|
|
#include "cartographer/common/port.h"
|
||
|
|
#include "cartographer/transform/rigid_transform.h"
|
||
|
|
#include "gmock/gmock.h"
|
||
|
|
#include "gtest/gtest.h"
|
||
|
|
|
||
|
|
namespace cartographer {
|
||
|
|
namespace transform {
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
Eigen::Transform<T, 2, Eigen::Affine> ToEigen(const Rigid2<T>& rigid2) {
|
||
|
|
return Eigen::Translation<T, 2>(rigid2.translation()) * rigid2.rotation();
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
Eigen::Transform<T, 3, Eigen::Affine> ToEigen(const Rigid3<T>& rigid3) {
|
||
|
|
return Eigen::Translation<T, 3>(rigid3.translation()) * rigid3.rotation();
|
||
|
|
}
|
||
|
|
|
||
|
|
MATCHER_P2(IsNearly, rigid, epsilon,
|
||
|
|
std::string(std::string(negation ? "isn't nearly " : "is nearly ") +
|
||
|
|
rigid.DebugString())) {
|
||
|
|
return ToEigen(arg).isApprox(ToEigen(rigid), epsilon);
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace transform
|
||
|
|
} // namespace cartographer
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_TRANSFORM_RIGID_TRANSFORM_TEST_HELPERS_H_
|