44 lines
1.4 KiB
C++
Executable File
44 lines
1.4 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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#include "cartographer/mapping/pose_graph_trimmer.h"
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#include <vector>
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/internal/testing/fake_trimmable.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(PureLocalizationTrimmerTest, MarksSubmapsAsExpected) {
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const int kTrajectoryId = 42;
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PureLocalizationTrimmer trimmer(kTrajectoryId, 15);
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testing::FakeTrimmable fake_pose_graph(kTrajectoryId, 17);
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trimmer.Trim(&fake_pose_graph);
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const auto trimmed_submaps = fake_pose_graph.trimmed_submaps();
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ASSERT_EQ(2, trimmed_submaps.size());
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EXPECT_EQ((SubmapId{kTrajectoryId, 0}), trimmed_submaps[0]);
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EXPECT_EQ((SubmapId{kTrajectoryId, 1}), trimmed_submaps[1]);
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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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