82 lines
2.4 KiB
C++
82 lines
2.4 KiB
C++
/*
|
|
* 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_grpc/handlers/get_landmark_poses_handler.h"
|
|
#include "cartographer_grpc/testing/handler_test.h"
|
|
#include "cartographer_grpc/testing/test_helpers.h"
|
|
#include "google/protobuf/text_format.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace cartographer_grpc {
|
|
namespace handlers {
|
|
namespace {
|
|
|
|
using ::cartographer::transform::Rigid3d;
|
|
using ::testing::_;
|
|
using ::testing::Eq;
|
|
using ::testing::Pointee;
|
|
using ::testing::Truly;
|
|
|
|
const std::string kMessage = R"PROTO(
|
|
landmark_poses {
|
|
landmark_id: "landmark_1"
|
|
global_pose {
|
|
translation {
|
|
x: 1 y: 2 z: 3
|
|
}
|
|
rotation {
|
|
w: 1 x: 0 y: 0 z: 0
|
|
}
|
|
}
|
|
}
|
|
landmark_poses {
|
|
landmark_id: "landmark_2"
|
|
global_pose {
|
|
translation {
|
|
x: 3 y: 2 z: 1
|
|
}
|
|
rotation {
|
|
w: 0 x: 1 y: 0 z: 0
|
|
}
|
|
}
|
|
}
|
|
)PROTO";
|
|
|
|
using GetLandmarkPosesHandlerTest =
|
|
testing::HandlerTest<GetLandmarkPosesHandler>;
|
|
|
|
TEST_F(GetLandmarkPosesHandlerTest, NoLocalSlamUploader) {
|
|
std::map<std::string, Rigid3d> landmark_poses{
|
|
{"landmark_1", Rigid3d(Eigen::Vector3d(1., 2., 3.),
|
|
Eigen::Quaterniond(1., 0., 0., 0.))},
|
|
{"landmark_2", Rigid3d(Eigen::Vector3d(3., 2., 1.),
|
|
Eigen::Quaterniond(0., 1., 0., 0.))}};
|
|
EXPECT_CALL(*mock_pose_graph_, GetLandmarkPoses())
|
|
.WillOnce(::testing::Return(landmark_poses));
|
|
test_server_->SendWrite(google::protobuf::Empty());
|
|
|
|
proto::GetLandmarkPosesResponse expected_response;
|
|
EXPECT_TRUE(google::protobuf::TextFormat::ParseFromString(
|
|
kMessage, &expected_response));
|
|
EXPECT_THAT(
|
|
test_server_->response(),
|
|
::testing::Truly(testing::BuildProtoPredicateEquals(&expected_response)));
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace handlers
|
|
} // namespace cartographer_grpc
|