cartographer/cartographer_grpc/testing/test_helpers.cc

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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.
*/
#include "cartographer_grpc/testing/test_helpers.h"
namespace cartographer_grpc {
namespace testing {
template <>
DataPredicateType BuildDataPredicateEquals<proto::AddImuDataRequest>(
const proto::AddImuDataRequest &proto) {
return [proto](const cartographer::sensor::Data &data) {
const auto *dispatchable =
dynamic_cast<const cartographer::sensor::Dispatchable<
cartographer::sensor::ImuData> *>(&data);
CHECK_NOTNULL(dispatchable);
return google::protobuf::util::MessageDifferencer::Equals(
cartographer::sensor::ToProto(dispatchable->data()),
proto.imu_data()) &&
dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
};
}
template <>
DataPredicateType BuildDataPredicateEquals<proto::AddFixedFramePoseDataRequest>(
const proto::AddFixedFramePoseDataRequest &proto) {
return [proto](const cartographer::sensor::Data &data) {
const auto *dispatchable =
dynamic_cast<const cartographer::sensor::Dispatchable<
cartographer::sensor::FixedFramePoseData> *>(&data);
CHECK_NOTNULL(dispatchable);
return google::protobuf::util::MessageDifferencer::Equals(
cartographer::sensor::ToProto(dispatchable->data()),
proto.fixed_frame_pose_data()) &&
dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
};
}
template <>
DataPredicateType BuildDataPredicateEquals<proto::AddOdometryDataRequest>(
const proto::AddOdometryDataRequest &proto) {
return [proto](const cartographer::sensor::Data &data) {
const auto *dispatchable =
dynamic_cast<const cartographer::sensor::Dispatchable<
cartographer::sensor::OdometryData> *>(&data);
CHECK_NOTNULL(dispatchable);
return google::protobuf::util::MessageDifferencer::Equals(
cartographer::sensor::ToProto(dispatchable->data()),
proto.odometry_data()) &&
dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
};
}
template <>
DataPredicateType BuildDataPredicateEquals<proto::AddLandmarkDataRequest>(
const proto::AddLandmarkDataRequest &proto) {
return [proto](const cartographer::sensor::Data &data) {
const auto *dispatchable =
dynamic_cast<const cartographer::sensor::Dispatchable<
cartographer::sensor::LandmarkData> *>(&data);
CHECK_NOTNULL(dispatchable);
return google::protobuf::util::MessageDifferencer::Equals(
cartographer::sensor::ToProto(dispatchable->data()),
proto.landmark_data()) &&
dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
};
}
template <>
DataPredicateType BuildDataPredicateEquals<proto::AddRangefinderDataRequest>(
const proto::AddRangefinderDataRequest &proto) {
return [proto](const cartographer::sensor::Data &data) {
const auto *dispatchable =
dynamic_cast<const cartographer::sensor::Dispatchable<
cartographer::sensor::TimedPointCloudData> *>(&data);
CHECK_NOTNULL(dispatchable);
return google::protobuf::util::MessageDifferencer::Equals(
cartographer::sensor::ToProto(dispatchable->data()),
proto.timed_point_cloud_data()) &&
dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
};
}
ProtoPredicateType BuildProtoPredicateEquals(
const google::protobuf::Message *proto) {
return [proto](const google::protobuf::Message &message) {
return google::protobuf::util::MessageDifferencer::Equals(*proto, message);
};
}
} // namespace testing
} // namespace cartographer_grpc