66 lines
2.4 KiB
C++
66 lines
2.4 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 <string>
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#include <vector>
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#include "cartographer/common/config.h"
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#include "cartographer/common/configuration_file_resolver.h"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/mapping/map_builder.h"
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#include "gtest/gtest.h"
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namespace cartographer {
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namespace {
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TEST(ConfigurationFilesTest, ValidateMapBuilderOptions) {
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const std::string kCode = R"text(
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include "map_builder.lua"
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MAP_BUILDER.use_trajectory_builder_2d = true
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return MAP_BUILDER)text";
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EXPECT_NO_FATAL_FAILURE({
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auto file_resolver =
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::absl::make_unique< ::cartographer::common::ConfigurationFileResolver>(
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std::vector<std::string>{
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std::string(::cartographer::common::kSourceDirectory) +
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"/configuration_files"});
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::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
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kCode, std::move(file_resolver));
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::cartographer::mapping::CreateMapBuilderOptions(&lua_parameter_dictionary);
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});
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}
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TEST(ConfigurationFilesTest, ValidateTrajectoryBuilderOptions) {
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const std::string kCode = R"text(
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include "trajectory_builder.lua"
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TRAJECTORY_BUILDER.trajectory_builder_2d.use_imu_data = false
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return TRAJECTORY_BUILDER)text";
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EXPECT_NO_FATAL_FAILURE({
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auto file_resolver =
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::absl::make_unique< ::cartographer::common::ConfigurationFileResolver>(
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std::vector<std::string>{
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std::string(::cartographer::common::kSourceDirectory) +
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"/configuration_files"});
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::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
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kCode, std::move(file_resolver));
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::cartographer::mapping::CreateTrajectoryBuilderOptions(
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&lua_parameter_dictionary);
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});
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}
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} // namespace
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} // namespace cartographer
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