88 lines
3.1 KiB
C++
Executable File
88 lines
3.1 KiB
C++
Executable File
/*
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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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#ifndef CARTOGRAPHER_SENSOR_INTERNAL_TEST_HELPERS_H_
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#define CARTOGRAPHER_SENSOR_INTERNAL_TEST_HELPERS_H_
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#include <string>
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#include <tuple>
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#include "absl/memory/memory.h"
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/collator_interface.h"
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#include "cartographer/sensor/imu_data.h"
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#include "cartographer/sensor/internal/dispatchable.h"
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#include "cartographer/sensor/odometry_data.h"
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#include "cartographer/sensor/timed_point_cloud_data.h"
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#include "gmock/gmock.h"
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namespace cartographer {
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namespace sensor {
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MATCHER_P(Near, point, std::string(negation ? "Doesn't" : "Does") + " match.") {
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return arg.isApprox(point, 0.001f);
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}
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namespace testing {
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typedef std::tuple<int /* trajectory_id */, std::string /* sensor_id */,
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common::Time>
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CollatorOutput;
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struct CollatorInput {
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static CollatorInput CreateImuData(int trajectory_id,
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const std::string& sensor_id, int time) {
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return CollatorInput{
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trajectory_id,
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MakeDispatchable(sensor_id, ImuData{common::FromUniversal(time)}),
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CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}};
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}
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static CollatorInput CreateTimedPointCloudData(int trajectory_id,
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const std::string& sensor_id,
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int time) {
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return CollatorInput{
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trajectory_id,
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MakeDispatchable(
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sensor_id,
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TimedPointCloudData{
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common::FromUniversal(time), Eigen::Vector3f::Zero(), {}}),
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CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}};
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}
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static CollatorInput CreateOdometryData(int trajectory_id,
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const std::string& sensor_id,
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int time) {
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return CollatorInput{
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trajectory_id,
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MakeDispatchable(sensor_id,
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OdometryData{common::FromUniversal(time),
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transform::Rigid3d::Identity()}),
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CollatorOutput{trajectory_id, sensor_id, common::FromUniversal(time)}};
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}
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void MoveToCollator(CollatorInterface* collator) {
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collator->AddSensorData(trajectory_id, std::move(data));
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}
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const int trajectory_id;
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std::unique_ptr<Data> data;
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const CollatorOutput expected_output;
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};
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} // namespace testing
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_INTERNAL_TEST_HELPERS_H_
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