From 41b642d92b3678962f293a6cb6d1638f59005629 Mon Sep 17 00:00:00 2001 From: gaschler Date: Wed, 20 Jun 2018 13:55:09 +0200 Subject: [PATCH] check trajectory remapping in test (#1208) --- cartographer/mapping/map_builder_test.cc | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/cartographer/mapping/map_builder_test.cc b/cartographer/mapping/map_builder_test.cc index de02af6..6bf9190 100644 --- a/cartographer/mapping/map_builder_test.cc +++ b/cartographer/mapping/map_builder_test.cc @@ -348,15 +348,13 @@ TEST_F(MapBuilderTest, SaveLoadState) { // Reset 'map_builder_'. BuildMapBuilder(); io::ProtoStreamReader reader(filename); - map_builder_->LoadState(&reader, false /* load_frozen_state */); - // TODO(gaschler): Design better way to find out which new trajectory_ids - // were created by LoadState. + auto trajectory_remapping = + map_builder_->LoadState(&reader, false /* load_frozen_state */); map_builder_->pose_graph()->RunFinalOptimization(); - auto nodes = map_builder_->pose_graph()->GetTrajectoryNodes(); - ASSERT_GT(nodes.size(), 0); - int new_trajectory_id = nodes.begin()->id.trajectory_id; EXPECT_EQ(num_constraints, map_builder_->pose_graph()->constraints().size()); + ASSERT_EQ(trajectory_remapping.size(), 1); + int new_trajectory_id = trajectory_remapping.begin()->second; EXPECT_EQ( num_nodes, map_builder_->pose_graph()->GetTrajectoryNodes().SizeOfTrajectoryOrZero(