cartographer/cartographer_grpc/testing/mock_map_builder.h

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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_MAP_BUILDER_H
#define CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "glog/logging.h"
#include "gmock/gmock.h"
#include "gtest/gtest.h"
using testing::_;
namespace cartographer_grpc {
namespace testing {
class MockMapBuilder : public cartographer::mapping::MapBuilderInterface {
public:
MOCK_METHOD3(
AddTrajectoryBuilder,
int(const std::set<SensorId> &expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions
&trajectory_options,
cartographer::mapping::MapBuilderInterface::LocalSlamResultCallback
local_slam_result_callback));
MOCK_METHOD1(AddTrajectoryForDeserialization,
int(const cartographer::mapping::proto::
TrajectoryBuilderOptionsWithSensorIds
&options_with_sensor_ids_proto));
MOCK_CONST_METHOD1(
GetTrajectoryBuilder,
cartographer::mapping::TrajectoryBuilderInterface *(int trajectory_id));
MOCK_METHOD1(FinishTrajectory, void(int trajectory_id));
MOCK_METHOD2(
SubmapToProto,
std::string(const cartographer::mapping::SubmapId &,
cartographer::mapping::proto::SubmapQuery::Response *));
MOCK_METHOD1(SerializeState,
void(cartographer::io::ProtoStreamWriterInterface *));
MOCK_METHOD1(LoadMap, void(cartographer::io::ProtoStreamReaderInterface *));
MOCK_CONST_METHOD0(num_trajectory_builders, int());
MOCK_METHOD0(pose_graph, cartographer::mapping::PoseGraphInterface *());
MOCK_CONST_METHOD0(
GetAllTrajectoryBuilderOptions,
const std::vector<
cartographer::mapping::proto::TrajectoryBuilderOptionsWithSensorIds>
&());
};
} // namespace testing
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_MAP_BUILDER_H