44 lines
1.6 KiB
C++
Executable File
44 lines
1.6 KiB
C++
Executable File
/*
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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/mapping/pose_graph.h"
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#include "cartographer/mapping/internal/testing/test_helpers.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer/transform/transform.h"
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#include "google/protobuf/util/message_differencer.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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TEST(PoseGraph, SerializeConstraint) {
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proto::PoseGraph::Constraint expected_constraint =
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testing::CreateFakeConstraint(testing::CreateFakeNode(1, 2),
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testing::CreateFakeSubmap3D(2, 3));
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::google::protobuf::RepeatedPtrField<proto::PoseGraph::Constraint>
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constraint_protos;
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*constraint_protos.Add() = expected_constraint;
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PoseGraph::Constraint constraint = FromProto(constraint_protos).front();
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EXPECT_TRUE(google::protobuf::util::MessageDifferencer::Equals(
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expected_constraint, ToProto(constraint)));
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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