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Add further tests for MapById (#1226) 

Adds tests for MapById for the cases: empty MapById, invalid trajectory_id, deleting all entries for a trajectory.
master
gaschler 2018-07-02 19:37:44 +02:00 committed by Christoph Schütte
parent 7839f3f216
commit d5ed8a9ded
1 changed files with 32 additions and 0 deletions
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32
cartographer/mapping/id_test.cc
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@ -56,6 +56,11 @@ static MapById<IdType, int> CreateTestMapById() {
TEST(IdTest, EmptyMapById) {
MapById<NodeId, int> map_by_id;
EXPECT_TRUE(map_by_id.empty());
EXPECT_EQ(map_by_id.trajectory_ids().begin(),
map_by_id.trajectory_ids().end());
int unknown_trajectory_id = 3;
EXPECT_EQ(map_by_id.trajectory(unknown_trajectory_id).begin(),
map_by_id.trajectory(unknown_trajectory_id).end());
const NodeId id = map_by_id.Append(42, 42);
EXPECT_FALSE(map_by_id.empty());
map_by_id.Trim(id);
@ -63,6 +68,32 @@ TEST(IdTest, EmptyMapById) {
EXPECT_EQ(0, map_by_id.size());
}
TEST(IdTest, DeleteTrajectory) {
MapById<NodeId, int> map_by_id;
int trajectory_id = 3;
int other_trajectory_id = 5;
map_by_id.Insert(NodeId{trajectory_id, 4}, 5);
map_by_id.Insert(NodeId{trajectory_id, 5}, 7);
map_by_id.Insert(NodeId{other_trajectory_id, 1}, 3);
EXPECT_EQ(map_by_id.size(), 3);
EXPECT_EQ(2, std::distance(map_by_id.trajectory_ids().begin(),
map_by_id.trajectory_ids().end()));
for (const auto& it : map_by_id.trajectory(trajectory_id)) {
map_by_id.Trim(it.id);
}
EXPECT_EQ(0, std::distance(map_by_id.trajectory(trajectory_id).begin(),
map_by_id.trajectory(trajectory_id).end()));
int invalid_trajectory_id = 2;
EXPECT_EQ(map_by_id.trajectory(invalid_trajectory_id).begin(),
map_by_id.trajectory(invalid_trajectory_id).end());
EXPECT_EQ(map_by_id.size(), 1);
EXPECT_EQ(1, std::distance(map_by_id.trajectory(other_trajectory_id).begin(),
map_by_id.trajectory(other_trajectory_id).end()));
EXPECT_EQ(1, std::distance(map_by_id.trajectory_ids().begin(),
map_by_id.trajectory_ids().end()));
EXPECT_FALSE(map_by_id.empty());
}
TEST(IdTest, MapByIdIterator) {
MapById<NodeId, int> map_by_id = CreateTestMapById<NodeId>();
EXPECT_EQ(4, map_by_id.size());
@ -152,6 +183,7 @@ TEST(IdTest, FindNodeId) {
map_by_id.Append(42, 43);
map_by_id.Append(42, 44);
CHECK_EQ(map_by_id.find(NodeId{42, 1})->data, 43);
EXPECT_TRUE(map_by_id.find(NodeId{41, 0}) == map_by_id.end());
EXPECT_TRUE(map_by_id.find(NodeId{42, 3}) == map_by_id.end());
}