/*
 * 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.
 */

#ifndef CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_
#define CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_

#include <memory>

#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/sensor/timed_point_cloud_data.h"

namespace cartographer {
namespace mapping {
namespace test {

std::unique_ptr<::cartographer::common::LuaParameterDictionary>
ResolveLuaParameters(const std::string& lua_code);

std::vector<cartographer::sensor::TimedPointCloudData>
GenerateFakeRangeMeasurements(double travel_distance, double duration,
                              double time_step);

}  // namespace test
}  // namespace mapping
}  // namespace cartographer

#endif  // CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_
