58 lines
2.0 KiB
C
58 lines
2.0 KiB
C
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/*
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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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#ifndef CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H
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#define CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H
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#include "cartographer/sensor/dispatchable.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/util/message_differencer.h"
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namespace cartographer_grpc {
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namespace testing {
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using DataPredicateType =
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std::function<bool(const cartographer::sensor::Data &)>;
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using ProtoPredicateType =
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std::function<bool(const google::protobuf::Message &)>;
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template <typename T>
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DataPredicateType BuildDataPredicateEquals(const T &proto);
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddImuDataRequest>(
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const proto::AddImuDataRequest &proto);
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddFixedFramePoseDataRequest>(
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const proto::AddFixedFramePoseDataRequest &proto);
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddOdometryDataRequest>(
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const proto::AddOdometryDataRequest &proto);
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddLandmarkDataRequest>(
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const proto::AddLandmarkDataRequest &proto);
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddRangefinderDataRequest>(
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const proto::AddRangefinderDataRequest &proto);
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ProtoPredicateType BuildProtoPredicateEquals(
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const google::protobuf::Message *proto);
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} // namespace testing
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_TESTING_TEST_HELPERS_H
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