45 lines
1.3 KiB
C++
45 lines
1.3 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/pose_graph/node/pose_3d.h"
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#include "cartographer/pose_graph/internal/testing/test_helpers.h"
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namespace cartographer {
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namespace pose_graph {
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namespace {
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constexpr char kExpectedNode[] = R"PROTO(
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id { object_id: "bumpy_world" }
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constant: true
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parameters {
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pose_3d {
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translation { x: 1 y: 2 z: 3 }
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rotation: { w: 0 x: 1 y: 2 z: 3 }
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}
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}
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)PROTO";
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TEST(Pose3DTest, ToProto) {
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Pose3D pose_3d("bumpy_world", true, Eigen::Vector3d(1., 2., 3.),
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Eigen::Quaterniond(0., 1., 2., 3.));
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EXPECT_THAT(pose_3d.ToProto(), testing::EqualsProto(kExpectedNode));
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}
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} // namespace
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} // namespace pose_graph
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} // namespace cartographer
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