[GenericPoseGraph] Move ParseProto and Near to test_helpers.h (#1307)

cartographer/pose_graph/constraint/cost_function/relative_pose_cost_2d_test.cc

@@ -18,8 +18,7 @@
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/internal/optimization/cost_functions/cost_helpers.h"
-#include "gmock/gmock.h"
+#include "cartographer/pose_graph/internal/testing/test_helpers.h"
-#include "google/protobuf/text_format.h"
 
 namespace cartographer {
 namespace pose_graph {
@@ -30,8 +29,10 @@ constexpr int kResidualsCount = 3;
 constexpr int kParameterBlocksCount = 2;
 constexpr int kJacobianColDimension = kResidualsCount * kPoseDimension;
 
-using ::google::protobuf::TextFormat;
 using ::testing::ElementsAre;
+using testing::Near;
+using testing::ParseProto;
+
 using ResidualType = std::array<double, kResidualsCount>;
 using JacobianType = std::array<std::array<double, kJacobianColDimension>,
                                 kParameterBlocksCount>;
@@ -67,7 +68,6 @@ class AutoDiffRelativePoseCost {
 class RelativePoseCost2DTest : public ::testing::Test {
  public:
   RelativePoseCost2DTest() {
-    proto::RelativePose2D::Parameters parameters;
     constexpr char kParameters[] = R"PROTO(
       first_t_second {
         translation: { x: 1 y: 1 }
@@ -76,8 +76,9 @@ class RelativePoseCost2DTest : public ::testing::Test {
       translation_weight: 1
       rotation_weight: 10
     )PROTO";
-    EXPECT_TRUE(TextFormat::ParseFromString(kParameters, &parameters));
 
+    auto parameters =
+        ParseProto<proto::RelativePose2D::Parameters>(kParameters);
     auto_diff_cost_ = common::make_unique<RelativePoseCost2D>(parameters);
     analytical_cost_ = common::make_unique<
         ceres::AutoDiffCostFunction<AutoDiffRelativePoseCost, kResidualsCount,
@@ -115,11 +116,6 @@ class RelativePoseCost2DTest : public ::testing::Test {
   std::unique_ptr<ceres::CostFunction> analytical_cost_;
 };
 
-::testing::Matcher<double> Near(double expected) {
-  constexpr double kPrecision = 1e-05;
-  return ::testing::DoubleNear(expected, kPrecision);
-}
-
 TEST_F(RelativePoseCost2DTest, CompareAutoDiffAndAnalytical) {
   std::array<double, kPoseDimension> start_pose{{1., 1., 1.}};
   std::array<double, kPoseDimension> end_pose{{10., 1., 100.}};

cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d_test.cc

@@ -17,26 +17,20 @@
 #include "cartographer/pose_graph/constraint/cost_function/relative_pose_cost_3d.h"
 
 #include "cartographer/pose_graph/internal/testing/test_helpers.h"
-#include "gmock/gmock.h"
-#include "google/protobuf/text_format.h"
 
 namespace cartographer {
 namespace pose_graph {
 namespace {
 
-using ::google::protobuf::TextFormat;
 using ::testing::ElementsAre;
 using testing::EqualsProto;
+using testing::Near;
+using testing::ParseProto;
 
 using PositionType = std::array<double, 3>;
 using RotationType = std::array<double, 4>;
 using ResidualType = std::array<double, 6>;
 
-::testing::Matcher<double> Near(double expected) {
-  constexpr double kPrecision = 1e-05;
-  return ::testing::DoubleNear(expected, kPrecision);
-}
-
 constexpr char kParameters[] = R"PROTO(
   first_t_second {
     translation: { x: 1 y: 2 z: 3 }
@@ -47,18 +41,16 @@ constexpr char kParameters[] = R"PROTO(
 )PROTO";
 
 TEST(RelativePoseCost3DTest, SerializesCorrectly) {
-  proto::RelativePose3D::Parameters relative_pose_parameters;
+  auto relative_pose_parameters =
-  ASSERT_TRUE(
+      ParseProto<proto::RelativePose3D::Parameters>(kParameters);
-      TextFormat::ParseFromString(kParameters, &relative_pose_parameters));
   RelativePoseCost3D relative_pose_cost_3d(relative_pose_parameters);
   const auto actual_proto = relative_pose_cost_3d.ToProto();
   EXPECT_THAT(actual_proto, EqualsProto(kParameters));
 }
 
 TEST(RelativePoseCost3DTest, EvaluatesCorrectly) {
-  proto::RelativePose3D::Parameters relative_pose_parameters;
+  auto relative_pose_parameters =
-  ASSERT_TRUE(
+      ParseProto<proto::RelativePose3D::Parameters>(kParameters);
-      TextFormat::ParseFromString(kParameters, &relative_pose_parameters));
   RelativePoseCost3D relative_pose_cost_3d(relative_pose_parameters);
 
   const PositionType kPosition1{{1., 1., 1.}};

cartographer/pose_graph/internal/testing/test_helpers.h

@@ -24,14 +24,25 @@
 namespace cartographer {
 namespace testing {
 
+template <typename ProtoType>
+ProtoType ParseProto(const std::string& proto_string) {
+  ProtoType proto;
+  EXPECT_TRUE(
+      ::google::protobuf::TextFormat::ParseFromString(proto_string, &proto));
+  return proto;
+}
+
 MATCHER_P(EqualsProto, expected_proto_string, "") {
   using ConstProtoType = typename std::remove_reference<decltype(arg)>::type;
+  using ProtoType = typename std::remove_cv<ConstProtoType>::type;
 
-  typename std::remove_cv<ConstProtoType>::type expected_proto;
+  return google::protobuf::util::MessageDifferencer::Equals(
-  EXPECT_TRUE(google::protobuf::TextFormat::ParseFromString(
+      arg, ParseProto<ProtoType>(expected_proto_string));
-      expected_proto_string, &expected_proto));
+}
-  return google::protobuf::util::MessageDifferencer::Equals(arg,
+
-                                                            expected_proto);
+::testing::Matcher<double> Near(double expected) {
+  constexpr double kPrecision = 1e-05;
+  return ::testing::DoubleNear(expected, kPrecision);
 }
 
 }  // namespace testing

cartographer/pose_graph/optimizer/ceres_optimizer_test.cc

@@ -18,14 +18,14 @@
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/pose_graph/constraint/relative_pose_constraint_2d.h"
-#include "google/protobuf/text_format.h"
+#include "cartographer/pose_graph/internal/testing/test_helpers.h"
-
-#include "gtest/gtest.h"
 
 namespace cartographer {
 namespace pose_graph {
 namespace {
 
+using testing::ParseProto;
+
 // TODO(pifon): Use the factory function, when the factory is done.
 Pose2D GetPose2D(const proto::Node& proto) {
   return {NodeId(proto.id()), proto.constant(),
@@ -33,14 +33,6 @@ Pose2D GetPose2D(const proto::Node& proto) {
           proto.parameters().pose_2d().rotation()};
 }
 
-template <typename ProtoType>
-ProtoType ParseProto(const std::string& proto_string) {
-  ProtoType proto;
-  EXPECT_TRUE(
-      ::google::protobuf::TextFormat::ParseFromString(proto_string, &proto));
-  return proto;
-}
-
 constexpr char kStartNode[] = R"PROTO(
   id { object_id: "start_node" timestamp: 1 }
   constant: false