65 lines
2.4 KiB
C++
65 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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#ifndef CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H
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#define CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "glog/logging.h"
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#include "gmock/gmock.h"
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#include "gtest/gtest.h"
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namespace cartographer_grpc {
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namespace testing {
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class MockPoseGraph : public cartographer::mapping::PoseGraphInterface {
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public:
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MockPoseGraph() = default;
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~MockPoseGraph() override = default;
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MOCK_METHOD0(RunFinalOptimization, void());
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MOCK_METHOD0(GetAllSubmapData,
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cartographer::mapping::MapById<cartographer::mapping::SubmapId,
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SubmapData>());
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MOCK_METHOD0(GetAllSubmapPoses,
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cartographer::mapping::MapById<cartographer::mapping::SubmapId,
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SubmapPose>());
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MOCK_METHOD1(GetLocalToGlobalTransform,
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cartographer::transform::Rigid3d(int));
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MOCK_METHOD0(
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GetTrajectoryNodes,
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNode>());
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MOCK_METHOD0(GetTrajectoryNodePoses,
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cartographer::mapping::MapById<
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cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNodePose>());
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MOCK_METHOD0(GetLandmarkPoses,
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std::map<std::string, cartographer::transform::Rigid3d>());
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MOCK_METHOD1(IsTrajectoryFinished, bool(int));
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MOCK_METHOD0(
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GetTrajectoryData,
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std::map<int,
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cartographer::mapping::PoseGraphInterface::TrajectoryData>());
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MOCK_METHOD0(constraints, std::vector<Constraint>());
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MOCK_METHOD0(ToProto, cartographer::mapping::proto::PoseGraph());
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};
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} // namespace testing
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_TESTING_MOCK_POSE_GRAPH_H
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