Move mapping:: related mocks to cartographer/internal/testing. (#960)

cartographer/cloud/internal/client_server_test.cc

@@ -19,10 +19,10 @@
 
 #include "cartographer/cloud/client/map_builder_stub.h"
 #include "cartographer/cloud/internal/map_builder_server.h"
-#include "cartographer/cloud/internal/testing/mock_map_builder.h"
-#include "cartographer/cloud/internal/testing/mock_trajectory_builder.h"
 #include "cartographer/cloud/map_builder_server_options.h"
 #include "cartographer/mapping/internal/test_helpers.h"
+#include "cartographer/mapping/internal/testing/mock_map_builder.h"
+#include "cartographer/mapping/internal/testing/mock_trajectory_builder.h"
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "glog/logging.h"
 #include "gmock/gmock.h"
@@ -32,6 +32,8 @@ using ::cartographer::mapping::MapBuilder;
 using ::cartographer::mapping::MapBuilderInterface;
 using ::cartographer::mapping::PoseGraphInterface;
 using ::cartographer::mapping::TrajectoryBuilderInterface;
+using ::cartographer::mapping::testing::MockMapBuilder;
+using ::cartographer::mapping::testing::MockTrajectoryBuilder;
 using ::testing::_;
 using SensorId = ::cartographer::mapping::TrajectoryBuilderInterface::SensorId;
 
@@ -92,13 +94,12 @@ class ClientServerTest : public ::testing::Test {
   }
 
   void InitializeServerWithMockMapBuilder() {
-    auto mock_map_builder = common::make_unique<testing::MockMapBuilder>();
+    auto mock_map_builder = common::make_unique<MockMapBuilder>();
     mock_map_builder_ = mock_map_builder.get();
     server_ = common::make_unique<MapBuilderServer>(
         map_builder_server_options_, std::move(mock_map_builder));
     EXPECT_TRUE(server_ != nullptr);
-    mock_trajectory_builder_ =
+    mock_trajectory_builder_ = common::make_unique<MockTrajectoryBuilder>();
-        common::make_unique<testing::MockTrajectoryBuilder>();
   }
 
   void InitializeStub() {
@@ -114,8 +115,8 @@ class ClientServerTest : public ::testing::Test {
   }
 
   proto::MapBuilderServerOptions map_builder_server_options_;
-  testing::MockMapBuilder* mock_map_builder_;
+  MockMapBuilder* mock_map_builder_;
-  std::unique_ptr<testing::MockTrajectoryBuilder> mock_trajectory_builder_;
+  std::unique_ptr<MockTrajectoryBuilder> mock_trajectory_builder_;
   ::cartographer::mapping::proto::TrajectoryBuilderOptions
       trajectory_builder_options_;
   std::unique_ptr<MapBuilderServer> server_;

cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc

@@ -17,8 +17,8 @@
 #include "cartographer/cloud/internal/handlers/add_trajectory_handler.h"
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/internal/testing/handler_test.h"
-#include "cartographer/cloud/internal/testing/mock_map_builder.h"
 #include "cartographer/cloud/internal/testing/test_helpers.h"
+#include "cartographer/mapping/internal/testing/mock_map_builder.h"
 #include "google/protobuf/text_format.h"
 #include "gtest/gtest.h"
 
@@ -70,7 +70,7 @@ class AddTrajectoryHandlerTest
  public:
   void SetUp() override {
     testing::HandlerTest<AddTrajectoryHandler>::SetUp();
-    mock_map_builder_ = common::make_unique<testing::MockMapBuilder>();
+    mock_map_builder_ = common::make_unique<mapping::testing::MockMapBuilder>();
     EXPECT_CALL(*mock_map_builder_context_,
                 GetLocalSlamResultCallbackForSubscriptions())
         .WillOnce(Return(nullptr));
@@ -88,7 +88,7 @@ class AddTrajectoryHandlerTest
     return expected_sensor_ids;
   }
 
-  std::unique_ptr<testing::MockMapBuilder> mock_map_builder_;
+  std::unique_ptr<mapping::testing::MockMapBuilder> mock_map_builder_;
 };
 
 TEST_F(AddTrajectoryHandlerTest, NoLocalSlamUploader) {

cartographer/cloud/internal/testing/handler_test.h

@@ -19,11 +19,11 @@
 
 #include "cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/internal/testing/mock_map_builder.h"
+#include "cartographer/mapping/internal/testing/mock_pose_graph.h"
 #include "gtest/gtest.h"
 #include "mock_local_trajectory_uploader.h"
-#include "mock_map_builder.h"
 #include "mock_map_builder_context.h"
-#include "mock_pose_graph.h"
 
 namespace cartographer {
 namespace cloud {
@@ -44,8 +44,8 @@ class HandlerTest : public Test {
             ->template GetUnsynchronizedContext<MockMapBuilderContext>();
     mock_local_trajectory_uploader_ =
         common::make_unique<MockLocalTrajectoryUploader>();
-    mock_map_builder_ = common::make_unique<MockMapBuilder>();
+    mock_map_builder_ = common::make_unique<mapping::testing::MockMapBuilder>();
-    mock_pose_graph_ = common::make_unique<MockPoseGraph>();
+    mock_pose_graph_ = common::make_unique<mapping::testing::MockPoseGraph>();
 
     EXPECT_CALL(*mock_map_builder_context_, map_builder())
         .Times(::testing::AnyNumber())
@@ -70,8 +70,8 @@ class HandlerTest : public Test {
       test_server_;
   MockMapBuilderContext* mock_map_builder_context_;
   std::unique_ptr<MockLocalTrajectoryUploader> mock_local_trajectory_uploader_;
-  std::unique_ptr<MockMapBuilder> mock_map_builder_;
+  std::unique_ptr<mapping::testing::MockMapBuilder> mock_map_builder_;
-  std::unique_ptr<MockPoseGraph> mock_pose_graph_;
+  std::unique_ptr<mapping::testing::MockPoseGraph> mock_pose_graph_;
 };
 
 }  // namespace testing

cartographer/mapping/internal/testing/mock_map_builder.h

@@ -26,7 +26,7 @@
 using testing::_;
 
 namespace cartographer {
-namespace cloud {
+namespace mapping {
 namespace testing {
 
 class MockMapBuilder : public mapping::MapBuilderInterface {
@@ -57,7 +57,7 @@ class MockMapBuilder : public mapping::MapBuilderInterface {
 };
 
 }  // namespace testing
-}  // namespace cloud
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_H

cartographer/mapping/internal/testing/mock_pose_graph.h

@@ -23,7 +23,7 @@
 #include "gtest/gtest.h"
 
 namespace cartographer {
-namespace cloud {
+namespace mapping {
 namespace testing {
 
 class MockPoseGraph : public mapping::PoseGraphInterface {
@@ -51,7 +51,7 @@ class MockPoseGraph : public mapping::PoseGraphInterface {
 };
 
 }  // namespace testing
-}  // namespace cloud
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_POSE_GRAPH_H

cartographer/mapping/internal/testing/mock_trajectory_builder.h

@@ -23,7 +23,7 @@
 #include "gtest/gtest.h"
 
 namespace cartographer {
-namespace cloud {
+namespace mapping {
 namespace testing {
 
 class MockTrajectoryBuilder : public mapping::TrajectoryBuilderInterface {
@@ -52,7 +52,7 @@ class MockTrajectoryBuilder : public mapping::TrajectoryBuilderInterface {
 };
 
 }  // namespace testing
-}  // namespace cloud
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_TRAJECTORY_BUILDER_CONTEXT_H