69 lines
2.7 KiB
C
69 lines
2.7 KiB
C
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/*
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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_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H_
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer/mapping/trajectory_builder_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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using testing::_;
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namespace cartographer {
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namespace mapping {
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namespace testing {
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class MockMapBuilder : public mapping::MapBuilderInterface {
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public:
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MOCK_METHOD3(
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AddTrajectoryBuilder,
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int(const std::set<SensorId> &expected_sensor_ids,
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const mapping::proto::TrajectoryBuilderOptions &trajectory_options,
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mapping::MapBuilderInterface::LocalSlamResultCallback
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local_slam_result_callback));
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MOCK_METHOD1(AddTrajectoryForDeserialization,
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int(const mapping::proto::TrajectoryBuilderOptionsWithSensorIds
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&options_with_sensor_ids_proto));
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MOCK_CONST_METHOD1(GetTrajectoryBuilder,
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mapping::TrajectoryBuilderInterface *(int trajectory_id));
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MOCK_METHOD1(FinishTrajectory, void(int trajectory_id));
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MOCK_METHOD2(SubmapToProto,
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std::string(const mapping::SubmapId &,
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mapping::proto::SubmapQuery::Response *));
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MOCK_METHOD2(SerializeState, void(bool, io::ProtoStreamWriterInterface *));
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MOCK_METHOD2(SerializeStateToFile, bool(bool, const std::string &));
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MOCK_METHOD2(LoadState,
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std::map<int, int>(io::ProtoStreamReaderInterface *, bool));
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MOCK_METHOD2(LoadStateFromFile,
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std::map<int, int>(const std::string &, bool));
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MOCK_CONST_METHOD0(num_trajectory_builders, int());
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MOCK_METHOD0(pose_graph, mapping::PoseGraphInterface *());
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MOCK_CONST_METHOD0(
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GetAllTrajectoryBuilderOptions,
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const std::vector<mapping::proto::TrajectoryBuilderOptionsWithSensorIds>
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&());
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};
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} // namespace testing
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_MAP_BUILDER_H_
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