cartographer/cartographer_grpc/testing/mock_local_trajectory_uploa...

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/*
* Copyright 2018 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_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H
#include "cartographer_grpc/local_trajectory_uploader.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
namespace cartographer_grpc {
namespace testing {
class MockLocalTrajectoryUploader : public LocalTrajectoryUploaderInterface {
public:
MOCK_METHOD1(DoEnqueueDataRequest, void(google::protobuf::Message *));
void EnqueueDataRequest(
std::unique_ptr<google::protobuf::Message> data_request) override {
DoEnqueueDataRequest(data_request.get());
}
MOCK_METHOD3(
AddTrajectory,
void(int, const std::set<SensorId> &,
const cartographer::mapping::proto::TrajectoryBuilderOptions &));
MOCK_METHOD1(FinishTrajectory, void(int));
MOCK_CONST_METHOD1(GetLocalSlamResultSensorId, SensorId(int));
};
} // namespace testing
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H