88 lines
3.0 KiB
C++
88 lines
3.0 KiB
C++
/*
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* Copyright 2016 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/mapping/sparse_pose_graph.h"
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#include <algorithm>
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#include <deque>
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#include <vector>
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#include "glog/logging.h"
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#include "gmock/gmock.h"
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namespace cartographer {
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namespace mapping {
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namespace {
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class FakeSubmaps : public Submaps {
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public:
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~FakeSubmaps() override {}
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const Submap* Get(int) const override { LOG(FATAL) << "Not implemented."; }
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int size() const override { LOG(FATAL) << "Not implemented."; }
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void SubmapToProto(int, const transform::Rigid3d&,
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proto::SubmapQuery::Response*) const override {
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LOG(FATAL) << "Not implemented.";
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}
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};
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TEST(SparsePoseGraphTest, TrajectoryFunctions) {
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std::vector<TrajectoryNode> trajectory_nodes;
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const std::vector<FakeSubmaps> submaps(5);
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std::deque<TrajectoryNode::ConstantData> constant_data;
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constexpr int kNumTrajectoryNodes = 10;
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for (int j = 0; j < kNumTrajectoryNodes; ++j) {
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for (size_t i = 0; i < submaps.size(); ++i) {
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constant_data.push_back({});
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constant_data.back().trajectory = &submaps[i];
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TrajectoryNode node;
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node.constant_data = &constant_data.back();
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trajectory_nodes.push_back(node);
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}
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}
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const std::unordered_map<const Submaps*, int> index_map = {{&submaps[0], 0},
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{&submaps[1], 1},
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{&submaps[2], 2},
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{&submaps[3], 3},
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{&submaps[4], 4}};
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std::vector<std::vector<TrajectoryNode>> grouped_nodes;
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std::vector<std::pair<int, int>> new_indices;
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GroupTrajectoryNodes(trajectory_nodes, index_map, &grouped_nodes,
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&new_indices);
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ASSERT_EQ(grouped_nodes.size(), submaps.size());
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for (size_t i = 0; i < submaps.size(); ++i) {
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EXPECT_EQ(grouped_nodes[i].size(), kNumTrajectoryNodes);
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for (const auto& node : grouped_nodes[i]) {
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EXPECT_EQ(node.constant_data->trajectory, &submaps[i]);
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}
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}
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ASSERT_EQ(trajectory_nodes.size(), new_indices.size());
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for (size_t i = 0; i < new_indices.size(); ++i) {
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const auto index_pair = new_indices[i];
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EXPECT_EQ(trajectory_nodes[i].constant_data->trajectory,
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grouped_nodes[index_pair.first][index_pair.second]
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.constant_data->trajectory);
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}
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}
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} // namespace
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} // namespace mapping
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} // namespace cartographer
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