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Fix unsigned comparison warning in 2D SPG test. (#518)

master
Juraj Oršulić 2017-09-12 11:25:51 +02:00 committed by Wolfgang Hess
parent 24c2b499dd
commit 23bf0fc0d4
1 changed files with 6 additions and 6 deletions
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12
cartographer/mapping_2d/sparse_pose_graph_test.cc
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@ -181,7 +181,7 @@ class SparsePoseGraphTest : public ::testing::Test {
TEST_F(SparsePoseGraphTest, EmptyMap) { TEST_F(SparsePoseGraphTest, EmptyMap) {
sparse_pose_graph_->RunFinalOptimization(); sparse_pose_graph_->RunFinalOptimization();
const auto nodes = sparse_pose_graph_->GetTrajectoryNodes(); const auto nodes = sparse_pose_graph_->GetTrajectoryNodes();
EXPECT_THAT(nodes.size(), ::testing::Eq(0)); EXPECT_THAT(nodes.size(), ::testing::Eq(0u));
} }
TEST_F(SparsePoseGraphTest, NoMovement) { TEST_F(SparsePoseGraphTest, NoMovement) {
@ -190,8 +190,8 @@ TEST_F(SparsePoseGraphTest, NoMovement) {
MoveRelative(transform::Rigid2d::Identity()); MoveRelative(transform::Rigid2d::Identity());
sparse_pose_graph_->RunFinalOptimization(); sparse_pose_graph_->RunFinalOptimization();
const auto nodes = sparse_pose_graph_->GetTrajectoryNodes(); const auto nodes = sparse_pose_graph_->GetTrajectoryNodes();
ASSERT_THAT(nodes.size(), ::testing::Eq(1)); ASSERT_THAT(nodes.size(), ::testing::Eq(1u));
EXPECT_THAT(nodes[0].size(), ::testing::Eq(3)); EXPECT_THAT(nodes[0].size(), ::testing::Eq(3u));
EXPECT_THAT(nodes[0][0].pose, EXPECT_THAT(nodes[0][0].pose,
transform::IsNearly(transform::Rigid3d::Identity(), 1e-2)); transform::IsNearly(transform::Rigid3d::Identity(), 1e-2));
EXPECT_THAT(nodes[0][1].pose, EXPECT_THAT(nodes[0][1].pose,
@ -210,7 +210,7 @@ TEST_F(SparsePoseGraphTest, NoOverlappingScans) {
} }
sparse_pose_graph_->RunFinalOptimization(); sparse_pose_graph_->RunFinalOptimization();
const auto nodes = sparse_pose_graph_->GetTrajectoryNodes(); const auto nodes = sparse_pose_graph_->GetTrajectoryNodes();
ASSERT_THAT(nodes.size(), ::testing::Eq(1)); ASSERT_THAT(nodes.size(), ::testing::Eq(1u));
for (int i = 0; i != 4; ++i) { for (int i = 0; i != 4; ++i) {
EXPECT_THAT(poses[i], EXPECT_THAT(poses[i],
IsNearly(transform::Project2D(nodes[0][i].pose), 1e-2)) IsNearly(transform::Project2D(nodes[0][i].pose), 1e-2))
@ -228,7 +228,7 @@ TEST_F(SparsePoseGraphTest, ConsecutivelyOverlappingScans) {
} }
sparse_pose_graph_->RunFinalOptimization(); sparse_pose_graph_->RunFinalOptimization();
const auto nodes = sparse_pose_graph_->GetTrajectoryNodes(); const auto nodes = sparse_pose_graph_->GetTrajectoryNodes();
ASSERT_THAT(nodes.size(), ::testing::Eq(1)); ASSERT_THAT(nodes.size(), ::testing::Eq(1u));
for (int i = 0; i != 5; ++i) { for (int i = 0; i != 5; ++i) {
EXPECT_THAT(poses[i], EXPECT_THAT(poses[i],
IsNearly(transform::Project2D(nodes[0][i].pose), 1e-2)) IsNearly(transform::Project2D(nodes[0][i].pose), 1e-2))
@ -253,7 +253,7 @@ TEST_F(SparsePoseGraphTest, OverlappingScans) {
} }
sparse_pose_graph_->RunFinalOptimization(); sparse_pose_graph_->RunFinalOptimization();
const auto nodes = sparse_pose_graph_->GetTrajectoryNodes(); const auto nodes = sparse_pose_graph_->GetTrajectoryNodes();
ASSERT_THAT(nodes.size(), ::testing::Eq(1)); ASSERT_THAT(nodes.size(), ::testing::Eq(1u));
transform::Rigid2d true_movement = transform::Rigid2d true_movement =
ground_truth.front().inverse() * ground_truth.back(); ground_truth.front().inverse() * ground_truth.back();
transform::Rigid2d movement_before = poses.front().inverse() * poses.back(); transform::Rigid2d movement_before = poses.front().inverse() * poses.back();