Follow googlecartographer/cartographer#326. (#370)
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@ -16,6 +16,8 @@
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#include "cartographer_ros/occupancy_grid.h"
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#include <memory>
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#include "cartographer/common/time.h"
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#include "cartographer/sensor/range_data.h"
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#include "gtest/gtest.h"
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@ -25,18 +27,19 @@ namespace cartographer_ros {
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namespace {
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TEST(OccupancyGridTest, ComputeMapLimits) {
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using ::cartographer::mapping::TrajectoryNode;
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constexpr int kTrajectoryId = 0;
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const ::cartographer::mapping::TrajectoryNode::ConstantData constant_data{
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const TrajectoryNode trajectory_node{
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std::make_shared<TrajectoryNode::Data>(TrajectoryNode::Data{
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::cartographer::common::FromUniversal(52),
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::cartographer::sensor::RangeData{
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Eigen::Vector3f::Zero(),
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{Eigen::Vector3f(-30.f, 1.f, 0.f), Eigen::Vector3f(50.f, -10.f, 0.f)},
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::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(),
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{Eigen::Vector3f(-30.f, 1.f, 0.f),
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Eigen::Vector3f(50.f, -10.f, 0.f)},
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{}},
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::cartographer::sensor::Compress(
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::cartographer::sensor::RangeData{Eigen::Vector3f::Zero(), {}, {}}),
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kTrajectoryId, ::cartographer::transform::Rigid3d::Identity()};
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const ::cartographer::mapping::TrajectoryNode trajectory_node{
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&constant_data, ::cartographer::transform::Rigid3d::Identity()};
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::cartographer::sensor::Compress(::cartographer::sensor::RangeData{
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Eigen::Vector3f::Zero(), {}, {}}),
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kTrajectoryId, ::cartographer::transform::Rigid3d::Identity()}),
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::cartographer::transform::Rigid3d::Identity()};
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constexpr double kResolution = 0.05;
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const ::cartographer::mapping_2d::MapLimits limits =
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ComputeMapLimits(kResolution, {trajectory_node});
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