71 lines
2.7 KiB
C++
Executable File
71 lines
2.7 KiB
C++
Executable File
/*
|
|
* Copyright 2018 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H_
|
|
#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H_
|
|
|
|
#include "cartographer/mapping/pose_graph_interface.h"
|
|
#include "glog/logging.h"
|
|
#include "gmock/gmock.h"
|
|
#include "gtest/gtest.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping {
|
|
namespace testing {
|
|
|
|
class MockPoseGraph : public mapping::PoseGraphInterface {
|
|
public:
|
|
MockPoseGraph() = default;
|
|
~MockPoseGraph() override = default;
|
|
|
|
MOCK_METHOD0(RunFinalOptimization, void());
|
|
MOCK_CONST_METHOD0(GetAllSubmapData,
|
|
mapping::MapById<mapping::SubmapId, SubmapData>());
|
|
MOCK_CONST_METHOD1(GetSubmapData, SubmapData(const SubmapId&));
|
|
MOCK_CONST_METHOD0(GetAllSubmapPoses,
|
|
mapping::MapById<mapping::SubmapId, SubmapPose>());
|
|
MOCK_CONST_METHOD1(GetLocalToGlobalTransform, transform::Rigid3d(int));
|
|
MOCK_CONST_METHOD0(
|
|
GetTrajectoryNodes,
|
|
mapping::MapById<mapping::NodeId, mapping::TrajectoryNode>());
|
|
MOCK_CONST_METHOD0(
|
|
GetTrajectoryNodePoses,
|
|
mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose>());
|
|
MOCK_CONST_METHOD0(
|
|
GetTrajectoryStates,
|
|
std::map<int, mapping::PoseGraphInterface::TrajectoryState>());
|
|
MOCK_CONST_METHOD0(GetLandmarkPoses,
|
|
std::map<std::string, transform::Rigid3d>());
|
|
MOCK_METHOD3(SetLandmarkPose,
|
|
void(const std::string&, const transform::Rigid3d&, const bool));
|
|
MOCK_METHOD1(DeleteTrajectory, void(int));
|
|
MOCK_CONST_METHOD1(IsTrajectoryFinished, bool(int));
|
|
MOCK_CONST_METHOD1(IsTrajectoryFrozen, bool(int));
|
|
MOCK_CONST_METHOD0(
|
|
GetTrajectoryData,
|
|
std::map<int, mapping::PoseGraphInterface::TrajectoryData>());
|
|
MOCK_CONST_METHOD0(constraints, std::vector<Constraint>());
|
|
MOCK_CONST_METHOD1(ToProto, mapping::proto::PoseGraph(bool));
|
|
MOCK_METHOD1(SetGlobalSlamOptimizationCallback,
|
|
void(GlobalSlamOptimizationCallback callback));
|
|
};
|
|
|
|
} // namespace testing
|
|
} // namespace mapping
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_MOCK_POSE_GRAPH_H_
|