From 8219117a17c175a405d4ba08950f60e087482dc0 Mon Sep 17 00:00:00 2001
From: Martin Bokeloh <mbokeloh@google.com>
Date: Tue, 24 Jul 2018 14:32:38 +0200
Subject: [PATCH] [GenericPoseGraph] Add serialization tests for constraints.
 (#1318)

* [GenericPoseGraph] Add rotation 3d constraint.

* [GenericPoseGraph] Add serialization tests for constraints.

* Remove files from other branch

* Updated include paths.
---
 .../relative_pose_constraint_2d_test.cc       | 58 +++++++++++++++++++
 .../relative_pose_constraint_3d_test.cc       | 58 +++++++++++++++++++
 2 files changed, 116 insertions(+)
 create mode 100644 cartographer/pose_graph/constraint/relative_pose_constraint_2d_test.cc
 create mode 100644 cartographer/pose_graph/constraint/relative_pose_constraint_3d_test.cc

diff --git a/cartographer/pose_graph/constraint/relative_pose_constraint_2d_test.cc b/cartographer/pose_graph/constraint/relative_pose_constraint_2d_test.cc
new file mode 100644
index 0000000..85c396e
--- /dev/null
+++ b/cartographer/pose_graph/constraint/relative_pose_constraint_2d_test.cc
@@ -0,0 +1,58 @@
+/*
+ * Copyright 2018 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/pose_graph/constraint/relative_pose_constraint_2d.h"
+
+#include "cartographer/testing/test_helpers.h"
+
+namespace cartographer {
+namespace pose_graph {
+namespace {
+
+using testing::EqualsProto;
+using testing::ParseProto;
+
+constexpr char kConstraint[] = R"PROTO(
+  id: "narf"
+  cost_function {
+    relative_pose_2d {
+      first { object_id: "node0" }
+      second { object_id: "node1" }
+      parameters {
+        first_t_second {
+          translation: { x: 1 y: 1 }
+          rotation: -2.214297
+        }
+        translation_weight: 1
+        rotation_weight: 10
+      }
+    }
+  }
+
+  loss_function { quadratic_loss {} }
+)PROTO";
+
+TEST(RelativePoseConstraint2DTest, SerializesCorrectly) {
+  const auto proto = ParseProto<proto::Constraint>(kConstraint);
+  RelativePoseConstraint2D constraint(proto.id(), proto.loss_function(),
+                                      proto.cost_function().relative_pose_2d());
+  const auto actual_proto = constraint.ToProto();
+  EXPECT_THAT(actual_proto, EqualsProto(kConstraint));
+}
+
+}  // namespace
+}  // namespace pose_graph
+}  // namespace cartographer
diff --git a/cartographer/pose_graph/constraint/relative_pose_constraint_3d_test.cc b/cartographer/pose_graph/constraint/relative_pose_constraint_3d_test.cc
new file mode 100644
index 0000000..6af981b
--- /dev/null
+++ b/cartographer/pose_graph/constraint/relative_pose_constraint_3d_test.cc
@@ -0,0 +1,58 @@
+/*
+ * Copyright 2018 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/pose_graph/constraint/relative_pose_constraint_3d.h"
+
+#include "cartographer/testing/test_helpers.h"
+
+namespace cartographer {
+namespace pose_graph {
+namespace {
+
+using testing::EqualsProto;
+using testing::ParseProto;
+
+constexpr char kConstraint[] = R"PROTO(
+  id: "narf"
+  cost_function {
+    relative_pose_3d {
+      first { object_id: "node0" }
+      second { object_id: "node1" }
+      parameters {
+        first_t_second {
+          translation: { x: 1 y: 2 z: 3 }
+          rotation: { x: 0 y: 0.3 z: 0.1 w: 0.2 }
+        }
+        translation_weight: 1
+        rotation_weight: 10
+      }
+    }
+  }
+
+  loss_function { quadratic_loss {} }
+)PROTO";
+
+TEST(RelativePoseConstraint2DTest, SerializesCorrectly) {
+  const auto proto = ParseProto<proto::Constraint>(kConstraint);
+  RelativePoseConstraint3D constraint(proto.id(), proto.loss_function(),
+                                      proto.cost_function().relative_pose_3d());
+  const auto actual_proto = constraint.ToProto();
+  EXPECT_THAT(actual_proto, EqualsProto(kConstraint));
+}
+
+}  // namespace
+}  // namespace pose_graph
+}  // namespace cartographer