52 lines
1.7 KiB
C++
52 lines
1.7 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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#ifndef CARTOGRAPHER_POSE_GRAPH_INTERNAL_TESTING_TEST_HELPERS_H_
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#define CARTOGRAPHER_POSE_GRAPH_INTERNAL_TESTING_TEST_HELPERS_H_
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#include "gmock/gmock.h"
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#include "google/protobuf/text_format.h"
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#include "google/protobuf/util/message_differencer.h"
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namespace cartographer {
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namespace testing {
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template <typename ProtoType>
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ProtoType ParseProto(const std::string& proto_string) {
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ProtoType proto;
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EXPECT_TRUE(
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::google::protobuf::TextFormat::ParseFromString(proto_string, &proto));
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return proto;
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}
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MATCHER_P(EqualsProto, expected_proto_string, "") {
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using ConstProtoType = typename std::remove_reference<decltype(arg)>::type;
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using ProtoType = typename std::remove_cv<ConstProtoType>::type;
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return google::protobuf::util::MessageDifferencer::Equals(
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arg, ParseProto<ProtoType>(expected_proto_string));
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}
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::testing::Matcher<double> Near(double expected) {
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constexpr double kPrecision = 1e-05;
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return ::testing::DoubleNear(expected, kPrecision);
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}
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} // namespace testing
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} // namespace cartographer
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#endif // CARTOGRAPHER_POSE_GRAPH_INTERNAL_TESTING_TEST_HELPERS_H_
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