106 lines
4.1 KiB
C++
106 lines
4.1 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer_grpc/testing/test_helpers.h"
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namespace cartographer_grpc {
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namespace testing {
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddImuDataRequest>(
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const proto::AddImuDataRequest &proto) {
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return [proto](const cartographer::sensor::Data &data) {
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const auto *dispatchable =
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dynamic_cast<const cartographer::sensor::Dispatchable<
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cartographer::sensor::ImuData> *>(&data);
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CHECK_NOTNULL(dispatchable);
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return google::protobuf::util::MessageDifferencer::Equals(
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cartographer::sensor::ToProto(dispatchable->data()),
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proto.imu_data()) &&
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dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
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};
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}
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddFixedFramePoseDataRequest>(
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const proto::AddFixedFramePoseDataRequest &proto) {
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return [proto](const cartographer::sensor::Data &data) {
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const auto *dispatchable =
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dynamic_cast<const cartographer::sensor::Dispatchable<
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cartographer::sensor::FixedFramePoseData> *>(&data);
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CHECK_NOTNULL(dispatchable);
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return google::protobuf::util::MessageDifferencer::Equals(
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cartographer::sensor::ToProto(dispatchable->data()),
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proto.fixed_frame_pose_data()) &&
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dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
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};
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}
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddOdometryDataRequest>(
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const proto::AddOdometryDataRequest &proto) {
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return [proto](const cartographer::sensor::Data &data) {
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const auto *dispatchable =
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dynamic_cast<const cartographer::sensor::Dispatchable<
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cartographer::sensor::OdometryData> *>(&data);
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CHECK_NOTNULL(dispatchable);
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return google::protobuf::util::MessageDifferencer::Equals(
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cartographer::sensor::ToProto(dispatchable->data()),
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proto.odometry_data()) &&
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dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
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};
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}
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddLandmarkDataRequest>(
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const proto::AddLandmarkDataRequest &proto) {
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return [proto](const cartographer::sensor::Data &data) {
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const auto *dispatchable =
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dynamic_cast<const cartographer::sensor::Dispatchable<
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cartographer::sensor::LandmarkData> *>(&data);
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CHECK_NOTNULL(dispatchable);
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return google::protobuf::util::MessageDifferencer::Equals(
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cartographer::sensor::ToProto(dispatchable->data()),
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proto.landmark_data()) &&
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dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
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};
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}
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template <>
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DataPredicateType BuildDataPredicateEquals<proto::AddRangefinderDataRequest>(
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const proto::AddRangefinderDataRequest &proto) {
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return [proto](const cartographer::sensor::Data &data) {
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const auto *dispatchable =
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dynamic_cast<const cartographer::sensor::Dispatchable<
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cartographer::sensor::TimedPointCloudData> *>(&data);
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CHECK_NOTNULL(dispatchable);
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return google::protobuf::util::MessageDifferencer::Equals(
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cartographer::sensor::ToProto(dispatchable->data()),
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proto.timed_point_cloud_data()) &&
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dispatchable->GetSensorId() == proto.sensor_metadata().sensor_id();
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};
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}
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ProtoPredicateType BuildProtoPredicateEquals(
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const google::protobuf::Message *proto) {
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return [proto](const google::protobuf::Message &message) {
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return google::protobuf::util::MessageDifferencer::Equals(*proto, message);
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};
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}
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} // namespace testing
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} // namespace cartographer_grpc
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