diff --git a/cartographer/cloud/internal/client_server_test.cc b/cartographer/cloud/internal/client_server_test.cc index 11bb890..5d5a7c3 100644 --- a/cartographer/cloud/internal/client_server_test.cc +++ b/cartographer/cloud/internal/client_server_test.cc @@ -64,7 +64,7 @@ class ClientServerTest : public ::testing::Test { MAP_BUILDER_SERVER.server_address = "0.0.0.0:50051" return MAP_BUILDER_SERVER)text"; auto map_builder_server_parameters = - mapping::test::ResolveLuaParameters(kMapBuilderServerLua); + mapping::testing::ResolveLuaParameters(kMapBuilderServerLua); map_builder_server_options_ = CreateMapBuilderServerOptions(map_builder_server_parameters.get()); @@ -79,7 +79,7 @@ class ClientServerTest : public ::testing::Test { MAP_BUILDER_SERVER.upload_batch_size = 1 return MAP_BUILDER_SERVER)text"; auto uploading_map_builder_server_parameters = - mapping::test::ResolveLuaParameters(kUploadingMapBuilderServerLua); + mapping::testing::ResolveLuaParameters(kUploadingMapBuilderServerLua); uploading_map_builder_server_options_ = CreateMapBuilderServerOptions( uploading_map_builder_server_parameters.get()); @@ -89,7 +89,7 @@ class ClientServerTest : public ::testing::Test { TRAJECTORY_BUILDER.trajectory_builder_2d.submaps.num_range_data = 4 return TRAJECTORY_BUILDER)text"; auto trajectory_builder_parameters = - mapping::test::ResolveLuaParameters(kTrajectoryBuilderLua); + mapping::testing::ResolveLuaParameters(kTrajectoryBuilderLua); trajectory_builder_options_ = mapping::CreateTrajectoryBuilderOptions( trajectory_builder_parameters.get()); number_of_insertion_results_ = 0; @@ -278,7 +278,7 @@ TEST_F(ClientServerTest, LocalSlam2D) { local_slam_result_callback_); TrajectoryBuilderInterface* trajectory_stub = stub_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = mapping::test::GenerateFakeRangeMeasurements( + const auto measurements = mapping::testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_stub->AddSensorData(kRangeSensorId.id, measurement); @@ -316,7 +316,7 @@ TEST_F(ClientServerTest, GlobalSlam3D) { local_slam_result_callback_); TrajectoryBuilderInterface* trajectory_stub = stub_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = mapping::test::GenerateFakeRangeMeasurements( + const auto measurements = mapping::testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { sensor::ImuData imu_data{ @@ -381,7 +381,7 @@ TEST_F(ClientServerTest, LocalSlam2DWithUploadingServer) { local_slam_result_callback_); TrajectoryBuilderInterface* trajectory_stub = stub_for_uploading_server_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = mapping::test::GenerateFakeRangeMeasurements( + const auto measurements = mapping::testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_stub->AddSensorData(kRangeSensorId.id, measurement); diff --git a/cartographer/mapping/internal/3d/pose_graph_3d_test.cc b/cartographer/mapping/internal/3d/pose_graph_3d_test.cc index 286437e..f961d65 100644 --- a/cartographer/mapping/internal/3d/pose_graph_3d_test.cc +++ b/cartographer/mapping/internal/3d/pose_graph_3d_test.cc @@ -63,7 +63,7 @@ class PoseGraph3DTest : public ::testing::Test { const std::string kPoseGraphLua = R"text( include "pose_graph.lua" return POSE_GRAPH)text"; - auto pose_graph_parameters = test::ResolveLuaParameters(kPoseGraphLua); + auto pose_graph_parameters = testing::ResolveLuaParameters(kPoseGraphLua); pose_graph_options_ = CreatePoseGraphOptions(pose_graph_parameters.get()); } @@ -107,17 +107,17 @@ TEST_F(PoseGraph3DTest, Empty) { TEST_F(PoseGraph3DTest, BasicSerialization) { BuildPoseGraph(); proto::PoseGraph proto; - auto fake_node = test::CreateFakeNode(); - test::AddToProtoGraph(fake_node, &proto); + auto fake_node = testing::CreateFakeNode(); + testing::AddToProtoGraph(fake_node, &proto); pose_graph_->AddNodeFromProto(Rigid3d::Identity(), fake_node); - auto fake_submap = test::CreateFakeSubmap3D(); - test::AddToProtoGraph(fake_submap, &proto); + auto fake_submap = testing::CreateFakeSubmap3D(); + testing::AddToProtoGraph(fake_submap, &proto); pose_graph_->AddSubmapFromProto(Rigid3d::Identity(), fake_submap); - test::AddToProtoGraph(test::CreateFakeConstraint(fake_node, fake_submap), - &proto); + testing::AddToProtoGraph( + testing::CreateFakeConstraint(fake_node, fake_submap), &proto); pose_graph_->AddSerializedConstraints(FromProto(proto.constraint())); - test::AddToProtoGraph( - test::CreateFakeLandmark("landmark_id", Rigid3d::Identity()), &proto); + testing::AddToProtoGraph( + testing::CreateFakeLandmark("landmark_id", Rigid3d::Identity()), &proto); pose_graph_->SetLandmarkPose("landmark_id", Rigid3d::Identity()); pose_graph_->WaitForAllComputations(); proto::PoseGraph actual_proto = pose_graph_->ToProto(); @@ -143,18 +143,18 @@ TEST_F(PoseGraph3DTest, PureLocalizationTrimmer) { const int num_nodes_per_submap = 2; for (int i = 0; i < num_submaps_to_create; ++i) { int submap_index = (i < 3) ? 42 + i : 100 + i; - auto submap = test::CreateFakeSubmap3D(trajectory_id, submap_index); + auto submap = testing::CreateFakeSubmap3D(trajectory_id, submap_index); pose_graph_->AddSubmapFromProto(Rigid3d::Identity(), submap); for (int j = 0; j < num_nodes_per_submap; ++j) { int node_index = 7 + num_nodes_per_submap * submap_index + j; - auto node = test::CreateFakeNode(trajectory_id, node_index); + auto node = testing::CreateFakeNode(trajectory_id, node_index); pose_graph_->AddNodeFromProto(Rigid3d::Identity(), node); proto::PoseGraph proto; - auto constraint = test::CreateFakeConstraint(node, submap); + auto constraint = testing::CreateFakeConstraint(node, submap); // TODO(gaschler): Also remove inter constraints when all references are // gone. constraint.set_tag(proto::PoseGraph::Constraint::INTRA_SUBMAP); - test::AddToProtoGraph(constraint, &proto); + testing::AddToProtoGraph(constraint, &proto); pose_graph_->AddSerializedConstraints(FromProto(proto.constraint())); } } @@ -222,16 +222,16 @@ TEST_F(PoseGraph3DTest, EvenSubmapTrimmer) { const int num_nodes_per_submap = 3; for (int i = 0; i < num_submaps_to_create; ++i) { int submap_index = 42 + i; - auto submap = test::CreateFakeSubmap3D(trajectory_id, submap_index); + auto submap = testing::CreateFakeSubmap3D(trajectory_id, submap_index); pose_graph_->AddSubmapFromProto(Rigid3d::Identity(), submap); for (int j = 0; j < num_nodes_per_submap; ++j) { int node_index = 7 + num_nodes_per_submap * i + j; - auto node = test::CreateFakeNode(trajectory_id, node_index); + auto node = testing::CreateFakeNode(trajectory_id, node_index); pose_graph_->AddNodeFromProto(Rigid3d::Identity(), node); proto::PoseGraph proto; - auto constraint = test::CreateFakeConstraint(node, submap); + auto constraint = testing::CreateFakeConstraint(node, submap); constraint.set_tag(proto::PoseGraph::Constraint::INTRA_SUBMAP); - test::AddToProtoGraph(constraint, &proto); + testing::AddToProtoGraph(constraint, &proto); pose_graph_->AddSerializedConstraints(FromProto(proto.constraint())); } } diff --git a/cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc index c13cfbb..6534dae 100644 --- a/cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc +++ b/cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc @@ -39,7 +39,7 @@ class MockCallback { class ConstraintBuilder2DTest : public ::testing::Test { protected: void SetUp() override { - auto constraint_builder_parameters = test::ResolveLuaParameters(R"text( + auto constraint_builder_parameters = testing::ResolveLuaParameters(R"text( include "pose_graph.lua" POSE_GRAPH.constraint_builder.sampling_ratio = 1 POSE_GRAPH.constraint_builder.min_score = 0 @@ -57,7 +57,7 @@ class ConstraintBuilder2DTest : public ::testing::Test { TEST_F(ConstraintBuilder2DTest, CallsBack) { EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), 0); - EXPECT_CALL(mock_, Run(testing::IsEmpty())); + EXPECT_CALL(mock_, Run(::testing::IsEmpty())); constraint_builder_->NotifyEndOfNode(); constraint_builder_->WhenDone( std::bind(&MockCallback::Run, &mock_, std::placeholders::_1)); @@ -92,9 +92,9 @@ TEST_F(ConstraintBuilder2DTest, FindsConstraints) { thread_pool_.WaitUntilIdle(); EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), ++expected_nodes); EXPECT_CALL(mock_, - Run(testing::AllOf( - testing::SizeIs(3), - testing::Each(testing::Field( + Run(::testing::AllOf( + ::testing::SizeIs(3), + ::testing::Each(::testing::Field( &PoseGraphInterface::Constraint::tag, PoseGraphInterface::Constraint::INTER_SUBMAP))))); constraint_builder_->WhenDone( diff --git a/cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc index cf9e6d4..01793a9 100644 --- a/cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc +++ b/cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc @@ -40,7 +40,7 @@ class MockCallback { class ConstraintBuilder3DTest : public ::testing::Test { protected: void SetUp() override { - auto constraint_builder_parameters = test::ResolveLuaParameters(R"text( + auto constraint_builder_parameters = testing::ResolveLuaParameters(R"text( include "pose_graph.lua" POSE_GRAPH.constraint_builder.sampling_ratio = 1 POSE_GRAPH.constraint_builder.min_score = 0 @@ -60,7 +60,7 @@ class ConstraintBuilder3DTest : public ::testing::Test { TEST_F(ConstraintBuilder3DTest, CallsBack) { EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), 0); - EXPECT_CALL(mock_, Run(testing::IsEmpty())); + EXPECT_CALL(mock_, Run(::testing::IsEmpty())); constraint_builder_->NotifyEndOfNode(); constraint_builder_->WhenDone( std::bind(&MockCallback::Run, &mock_, std::placeholders::_1)); @@ -100,9 +100,9 @@ TEST_F(ConstraintBuilder3DTest, FindsConstraints) { thread_pool_.WaitUntilIdle(); EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), ++expected_nodes); EXPECT_CALL(mock_, - Run(testing::AllOf( - testing::SizeIs(3), - testing::Each(testing::Field( + Run(::testing::AllOf( + ::testing::SizeIs(3), + ::testing::Each(::testing::Field( &PoseGraphInterface::Constraint::tag, PoseGraphInterface::Constraint::INTER_SUBMAP))))); constraint_builder_->WhenDone( diff --git a/cartographer/mapping/internal/testing/test_helpers.cc b/cartographer/mapping/internal/testing/test_helpers.cc index e34ee34..18389be 100644 --- a/cartographer/mapping/internal/testing/test_helpers.cc +++ b/cartographer/mapping/internal/testing/test_helpers.cc @@ -25,7 +25,7 @@ namespace cartographer { namespace mapping { -namespace test { +namespace testing { std::unique_ptr<::cartographer::common::LuaParameterDictionary> ResolveLuaParameters(const std::string& lua_code) { @@ -171,6 +171,6 @@ void AddToProtoGraph(const proto::PoseGraph::LandmarkPose& landmark, *pose_graph->add_landmark_poses() = landmark; } -} // namespace test +} // namespace testing } // namespace mapping } // namespace cartographer diff --git a/cartographer/mapping/internal/testing/test_helpers.h b/cartographer/mapping/internal/testing/test_helpers.h index 37cd3ef..00bd1bb 100644 --- a/cartographer/mapping/internal/testing/test_helpers.h +++ b/cartographer/mapping/internal/testing/test_helpers.h @@ -25,7 +25,7 @@ namespace cartographer { namespace mapping { -namespace test { +namespace testing { std::unique_ptr<::cartographer::common::LuaParameterDictionary> ResolveLuaParameters(const std::string& lua_code); @@ -63,7 +63,7 @@ void AddToProtoGraph(const proto::PoseGraph::Constraint& constraint, void AddToProtoGraph(const proto::PoseGraph::LandmarkPose& landmark_node, proto::PoseGraph* pose_graph); -} // namespace test +} // namespace testing } // namespace mapping } // namespace cartographer diff --git a/cartographer/mapping/map_builder_test.cc b/cartographer/mapping/map_builder_test.cc index bd59505..e7ea9b6 100644 --- a/cartographer/mapping/map_builder_test.cc +++ b/cartographer/mapping/map_builder_test.cc @@ -45,7 +45,7 @@ class MapBuilderTest : public ::testing::Test { MAP_BUILDER.pose_graph.global_sampling_ratio = 0.05 MAP_BUILDER.pose_graph.global_constraint_search_after_n_seconds = 0 return MAP_BUILDER)text"; - auto map_builder_parameters = test::ResolveLuaParameters(kMapBuilderLua); + auto map_builder_parameters = testing::ResolveLuaParameters(kMapBuilderLua); map_builder_options_ = CreateMapBuilderOptions(map_builder_parameters.get()); // Multiple submaps are created because of a small 'num_range_data'. @@ -56,7 +56,7 @@ class MapBuilderTest : public ::testing::Test { TRAJECTORY_BUILDER.trajectory_builder_3d.submaps.num_range_data = 4 return TRAJECTORY_BUILDER)text"; auto trajectory_builder_parameters = - test::ResolveLuaParameters(kTrajectoryBuilderLua); + testing::ResolveLuaParameters(kTrajectoryBuilderLua); trajectory_builder_options_ = CreateTrajectoryBuilderOptions(trajectory_builder_parameters.get()); } @@ -95,7 +95,7 @@ class MapBuilderTest : public ::testing::Test { GetLocalSlamResultCallback()); TrajectoryBuilderInterface* trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id); - auto measurements = test::GenerateFakeRangeMeasurements( + auto measurements = testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (auto& measurement : measurements) { trajectory_builder->AddSensorData(kRangeSensorId.id, measurement); @@ -144,7 +144,7 @@ TEST_F(MapBuilderTest, LocalSlam2D) { GetLocalSlamResultCallback()); TrajectoryBuilderInterface* trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = test::GenerateFakeRangeMeasurements( + const auto measurements = testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_builder->AddSensorData(kRangeSensorId.id, measurement); @@ -167,7 +167,7 @@ TEST_F(MapBuilderTest, LocalSlam3D) { GetLocalSlamResultCallback()); TrajectoryBuilderInterface* trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = test::GenerateFakeRangeMeasurements( + const auto measurements = testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_builder->AddSensorData(kRangeSensorId.id, measurement); @@ -194,7 +194,7 @@ TEST_F(MapBuilderTest, GlobalSlam2D) { GetLocalSlamResultCallback()); TrajectoryBuilderInterface* trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = test::GenerateFakeRangeMeasurements( + const auto measurements = testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_builder->AddSensorData(kRangeSensorId.id, measurement); @@ -209,7 +209,7 @@ TEST_F(MapBuilderTest, GlobalSlam2D) { 0.1 * kTravelDistance); EXPECT_GE(map_builder_->pose_graph()->constraints().size(), 50); EXPECT_THAT(map_builder_->pose_graph()->constraints(), - testing::Contains(testing::Field( + ::testing::Contains(::testing::Field( &PoseGraphInterface::Constraint::tag, PoseGraphInterface::Constraint::INTER_SUBMAP))); const auto trajectory_nodes = @@ -233,7 +233,7 @@ TEST_F(MapBuilderTest, GlobalSlam3D) { GetLocalSlamResultCallback()); TrajectoryBuilderInterface* trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = test::GenerateFakeRangeMeasurements( + const auto measurements = testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_builder->AddSensorData(kRangeSensorId.id, measurement); @@ -252,7 +252,7 @@ TEST_F(MapBuilderTest, GlobalSlam3D) { 0.1 * kTravelDistance); EXPECT_GE(map_builder_->pose_graph()->constraints().size(), 10); EXPECT_THAT(map_builder_->pose_graph()->constraints(), - testing::Contains(testing::Field( + ::testing::Contains(::testing::Field( &PoseGraphInterface::Constraint::tag, PoseGraphInterface::Constraint::INTER_SUBMAP))); const auto trajectory_nodes = @@ -280,7 +280,7 @@ TEST_F(MapBuilderTest, SaveLoadState) { GetLocalSlamResultCallback()); TrajectoryBuilderInterface* trajectory_builder = map_builder_->GetTrajectoryBuilder(trajectory_id); - const auto measurements = test::GenerateFakeRangeMeasurements( + const auto measurements = testing::GenerateFakeRangeMeasurements( kTravelDistance, kDuration, kTimeStep); for (const auto& measurement : measurements) { trajectory_builder->AddSensorData(kRangeSensorId.id, measurement); @@ -353,7 +353,7 @@ TEST_F(MapBuilderTest, LocalizationOnFrozenTrajectory2D) { Eigen::Quaterniond(Eigen::AngleAxisd(1.2, Eigen::Vector3d::UnitZ()))); Eigen::Vector3d travel_translation = Eigen::Vector3d(2., 1., 0.).normalized() * kTravelDistance; - auto measurements = test::GenerateFakeRangeMeasurements( + auto measurements = testing::GenerateFakeRangeMeasurements( travel_translation.cast(), kDuration, kTimeStep, frozen_trajectory_to_global.cast()); for (auto& measurement : measurements) { @@ -380,7 +380,7 @@ TEST_F(MapBuilderTest, LocalizationOnFrozenTrajectory2D) { EXPECT_GT(num_cross_trajectory_constraints, 3); // TODO(gaschler): Subscribe global slam callback, verify that all nodes are // optimized. - EXPECT_THAT(constraints, testing::Contains(testing::Field( + EXPECT_THAT(constraints, ::testing::Contains(::testing::Field( &PoseGraphInterface::Constraint::tag, PoseGraphInterface::Constraint::INTER_SUBMAP))); const auto trajectory_nodes = diff --git a/cartographer/mapping/pose_graph_test.cc b/cartographer/mapping/pose_graph_test.cc index 6172867..7aa95d1 100644 --- a/cartographer/mapping/pose_graph_test.cc +++ b/cartographer/mapping/pose_graph_test.cc @@ -27,8 +27,9 @@ namespace mapping { namespace { TEST(PoseGraph, SerializeConstraint) { - proto::PoseGraph::Constraint expected_constraint = test::CreateFakeConstraint( - test::CreateFakeNode(1, 2), test::CreateFakeSubmap3D(2, 3)); + proto::PoseGraph::Constraint expected_constraint = + testing::CreateFakeConstraint(testing::CreateFakeNode(1, 2), + testing::CreateFakeSubmap3D(2, 3)); ::google::protobuf::RepeatedPtrField constraint_protos; *constraint_protos.Add() = expected_constraint; diff --git a/cartographer/sensor/internal/collator_test.cc b/cartographer/sensor/internal/collator_test.cc index 012b193..e68831c 100644 --- a/cartographer/sensor/internal/collator_test.cc +++ b/cartographer/sensor/internal/collator_test.cc @@ -31,8 +31,8 @@ namespace cartographer { namespace sensor { namespace { -using test::CollatorInput; -using test::CollatorOutput; +using testing::CollatorInput; +using testing::CollatorOutput; TEST(Collator, Ordering) { const int kTrajectoryId = 0; diff --git a/cartographer/sensor/internal/test_helpers.h b/cartographer/sensor/internal/test_helpers.h index 0d0274d..d4d1f9a 100644 --- a/cartographer/sensor/internal/test_helpers.h +++ b/cartographer/sensor/internal/test_helpers.h @@ -36,7 +36,7 @@ MATCHER_P(Near, point, std::string(negation ? "Doesn't" : "Does") + " match.") { return arg.isApprox(point, 0.001f); } -namespace test { +namespace testing { typedef std::tuple @@ -80,7 +80,7 @@ struct CollatorInput { const CollatorOutput expected_output; }; -} // namespace test +} // namespace testing } // namespace sensor } // namespace cartographer diff --git a/cartographer/sensor/internal/trajectory_collator_test.cc b/cartographer/sensor/internal/trajectory_collator_test.cc index 1699c01..ace6f88 100644 --- a/cartographer/sensor/internal/trajectory_collator_test.cc +++ b/cartographer/sensor/internal/trajectory_collator_test.cc @@ -31,8 +31,8 @@ namespace cartographer { namespace sensor { namespace { -using test::CollatorInput; -using test::CollatorOutput; +using testing::CollatorInput; +using testing::CollatorOutput; TEST(TrajectoryCollator, OrderingMultipleTrajectories) { const int kTrajectoryId[] = {4, 7};