Test MapBuilder (#731)

cartographer/mapping/map_builder_test.cc

@@ -0,0 +1,84 @@
+/*
+ * Copyright 2017 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/mapping/map_builder.h"
+
+#include <functional>
+#include <string>
+#include <vector>
+
+#include "cartographer/common/config.h"
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
+#include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/trajectory_builder.h"
+#include "gtest/gtest.h"
+
+namespace cartographer {
+namespace mapping {
+namespace {
+
+std::unique_ptr<::cartographer::common::LuaParameterDictionary>
+ResolveLuaParameters(const std::string& lua_code) {
+  auto file_resolver = ::cartographer::common::make_unique<
+      ::cartographer::common::ConfigurationFileResolver>(
+      std::vector<std::string>{
+          std::string(::cartographer::common::kSourceDirectory) +
+          "/configuration_files"});
+  return common::make_unique<::cartographer::common::LuaParameterDictionary>(
+      lua_code, std::move(file_resolver));
+}
+
+class MapBuilderTest : public ::testing::Test {
+ protected:
+  void SetUp() override {
+    const std::string kMapBuilderLua = R"text(
+      include "map_builder.lua"
+      MAP_BUILDER.use_trajectory_builder_2d = true
+      return MAP_BUILDER)text";
+    auto parameter_dictionary = ResolveLuaParameters(kMapBuilderLua);
+    proto::MapBuilderOptions options =
+        CreateMapBuilderOptions(parameter_dictionary.get());
+    map_builder_ = common::make_unique<MapBuilder>(options);
+  }
+
+  std::unique_ptr<MapBuilderInterface> map_builder_;
+};
+
+TEST_F(MapBuilderTest, TrajectoryAddFinish) {
+  const std::string kRangeSensorId = "lidar";
+  const std::string kTrajectoryBuilderLua = R"text(
+      include "trajectory_builder.lua"
+      TRAJECTORY_BUILDER.trajectory_builder_2d.use_imu_data = false
+      return TRAJECTORY_BUILDER)text";
+  const std::unordered_set<std::string> expected_sensor_ids = {kRangeSensorId};
+  auto trajectory_builder_parameters =
+      ResolveLuaParameters(kTrajectoryBuilderLua);
+  proto::TrajectoryBuilderOptions trajectory_options =
+      CreateTrajectoryBuilderOptions(trajectory_builder_parameters.get());
+  int trajectory_id = map_builder_->AddTrajectoryBuilder(
+      expected_sensor_ids, trajectory_options,
+      nullptr /* local_slam_result_callback */);
+  EXPECT_EQ(1, map_builder_->num_trajectory_builders());
+  EXPECT_TRUE(map_builder_->GetTrajectoryBuilder(trajectory_id) != nullptr);
+  EXPECT_TRUE(map_builder_->pose_graph() != nullptr);
+  map_builder_->FinishTrajectory(trajectory_id);
+  EXPECT_TRUE(map_builder_->pose_graph()->IsTrajectoryFinished(trajectory_id));
+}
+
+}  // namespace
+}  // namespace mapping
+}  // namespace cartographer