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Follow googlecartographer/cartographer#326. (#370)

master
Wolfgang Hess 2017-06-10 10:41:39 +02:00 committed by Holger Rapp
parent 6658cffa20
commit 8d8cc09f80
1 changed files with 14 additions and 11 deletions
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25
cartographer_ros/cartographer_ros/occupancy_grid_test.cc
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@ -16,6 +16,8 @@
#include "cartographer_ros/occupancy_grid.h"
#include <memory>
#include "cartographer/common/time.h"
#include "cartographer/sensor/range_data.h"
#include "gtest/gtest.h"
@ -25,18 +27,19 @@ namespace cartographer_ros {
namespace {
TEST(OccupancyGridTest, ComputeMapLimits) {
using ::cartographer::mapping::TrajectoryNode;
constexpr int kTrajectoryId = 0;
const ::cartographer::mapping::TrajectoryNode::ConstantData constant_data{
::cartographer::common::FromUniversal(52),
::cartographer::sensor::RangeData{
Eigen::Vector3f::Zero(),
{Eigen::Vector3f(-30.f, 1.f, 0.f), Eigen::Vector3f(50.f, -10.f, 0.f)},
{}},
::cartographer::sensor::Compress(
::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}}),
kTrajectoryId, ::cartographer::transform::Rigid3d::Identity()};
const ::cartographer::mapping::TrajectoryNode trajectory_node{
&constant_data, ::cartographer::transform::Rigid3d::Identity()};
const TrajectoryNode trajectory_node{
std::make_shared<TrajectoryNode::Data>(TrajectoryNode::Data{
::cartographer::common::FromUniversal(52),
::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(),
{Eigen::Vector3f(-30.f, 1.f, 0.f),
Eigen::Vector3f(50.f, -10.f, 0.f)},
{}},
::cartographer::sensor::Compress(::cartographer::sensor::RangeData{
Eigen::Vector3f::Zero(), {}, {}}),
kTrajectoryId, ::cartographer::transform::Rigid3d::Identity()}),
::cartographer::transform::Rigid3d::Identity()};
constexpr double kResolution = 0.05;
const ::cartographer::mapping_2d::MapLimits limits =
ComputeMapLimits(kResolution, {trajectory_node});