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