62 lines
2.3 KiB
C
62 lines
2.3 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_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
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#define CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "glog/logging.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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namespace cartographer_grpc {
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namespace testing {
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class MockTrajectoryBuilder
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: public cartographer::mapping::TrajectoryBuilderInterface {
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public:
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MockTrajectoryBuilder() = default;
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~MockTrajectoryBuilder() override = default;
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MOCK_METHOD2(AddSensorData,
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void(const std::string &,
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const cartographer::sensor::TimedPointCloudData &));
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MOCK_METHOD2(AddSensorData, void(const std::string &,
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const cartographer::sensor::ImuData &));
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MOCK_METHOD2(AddSensorData, void(const std::string &,
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const cartographer::sensor::OdometryData &));
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MOCK_METHOD2(AddSensorData,
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void(const std::string &,
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const cartographer::sensor::FixedFramePoseData &));
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MOCK_METHOD2(AddSensorData, void(const std::string &,
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const cartographer::sensor::LandmarkData &));
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// Some of the platforms we run on may ship with a version of gmock which does
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// not yet support move-only types.
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MOCK_METHOD1(DoAddLocalSlamResultData,
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void(cartographer::mapping::LocalSlamResultData *));
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void AddLocalSlamResultData(
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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local_slam_result_data) override {
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DoAddLocalSlamResultData(local_slam_result_data.get());
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}
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};
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} // namespace testing
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H
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