103 lines
3.4 KiB
C++
Executable File
103 lines
3.4 KiB
C++
Executable File
/*
|
|
* Copyright 2017 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.
|
|
*/
|
|
|
|
#include "cartographer/sensor/map_by_time.h"
|
|
|
|
#include <deque>
|
|
|
|
#include "cartographer/common/time.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace cartographer {
|
|
namespace sensor {
|
|
namespace {
|
|
|
|
common::Time CreateTime(const int milliseconds) {
|
|
return common::Time(common::FromMilliseconds(milliseconds));
|
|
}
|
|
|
|
struct Data {
|
|
common::Time time;
|
|
};
|
|
|
|
struct NodeData {
|
|
common::Time time;
|
|
};
|
|
|
|
TEST(MapByTimeTest, AppendAndViewTrajectory) {
|
|
MapByTime<Data> map_by_time;
|
|
map_by_time.Append(0, Data{CreateTime(10)});
|
|
map_by_time.Append(42, Data{CreateTime(42)});
|
|
map_by_time.Append(42, Data{CreateTime(43)});
|
|
std::deque<Data> expected_data = {Data{CreateTime(42)}, Data{CreateTime(43)}};
|
|
for (const Data& data : map_by_time.trajectory(42)) {
|
|
ASSERT_FALSE(expected_data.empty());
|
|
EXPECT_EQ(expected_data.front().time, data.time);
|
|
expected_data.pop_front();
|
|
}
|
|
EXPECT_TRUE(expected_data.empty());
|
|
}
|
|
|
|
TEST(MapByTimeTest, Trimming) {
|
|
MapByTime<Data> map_by_time;
|
|
EXPECT_FALSE(map_by_time.HasTrajectory(42));
|
|
map_by_time.Append(42, Data{CreateTime(1)});
|
|
map_by_time.Append(42, Data{CreateTime(41)});
|
|
map_by_time.Append(42, Data{CreateTime(42)});
|
|
map_by_time.Append(42, Data{CreateTime(43)});
|
|
map_by_time.Append(42, Data{CreateTime(47)});
|
|
map_by_time.Append(42, Data{CreateTime(48)});
|
|
map_by_time.Append(42, Data{CreateTime(49)});
|
|
map_by_time.Append(42, Data{CreateTime(5000)});
|
|
EXPECT_TRUE(map_by_time.HasTrajectory(42));
|
|
// Trim one node.
|
|
mapping::MapById<mapping::NodeId, NodeData> map_by_id;
|
|
map_by_id.Append(42, NodeData{CreateTime(42)});
|
|
map_by_id.Append(42, NodeData{CreateTime(46)});
|
|
map_by_id.Append(42, NodeData{CreateTime(48)});
|
|
map_by_time.Trim(map_by_id, mapping::NodeId{42, 1});
|
|
map_by_id.Trim(mapping::NodeId{42, 1});
|
|
ASSERT_TRUE(map_by_time.HasTrajectory(42));
|
|
std::deque<Data> expected_data = {
|
|
Data{CreateTime(1)}, Data{CreateTime(41)}, Data{CreateTime(42)},
|
|
Data{CreateTime(48)}, Data{CreateTime(49)}, Data{CreateTime(5000)}};
|
|
for (const Data& data : map_by_time.trajectory(42)) {
|
|
ASSERT_FALSE(expected_data.empty());
|
|
EXPECT_EQ(expected_data.front().time, data.time);
|
|
expected_data.pop_front();
|
|
}
|
|
EXPECT_TRUE(expected_data.empty());
|
|
// Trim everything.
|
|
map_by_time.Trim(map_by_id, mapping::NodeId{42, 2});
|
|
map_by_id.Trim(mapping::NodeId{42, 2});
|
|
map_by_time.Trim(map_by_id, mapping::NodeId{42, 0});
|
|
map_by_id.Trim(mapping::NodeId{42, 0});
|
|
EXPECT_FALSE(map_by_time.HasTrajectory(42));
|
|
}
|
|
|
|
TEST(MapByTimeTest, TrimmingDoesNotCreateTrajectory) {
|
|
MapByTime<Data> map_by_time;
|
|
EXPECT_FALSE(map_by_time.HasTrajectory(42));
|
|
mapping::MapById<mapping::NodeId, NodeData> map_by_id;
|
|
map_by_id.Append(42, NodeData{CreateTime(42)});
|
|
map_by_time.Trim(map_by_id, mapping::NodeId{42, 0});
|
|
EXPECT_FALSE(map_by_time.HasTrajectory(42));
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace sensor
|
|
} // namespace cartographer
|