72 lines
2.7 KiB
C++
Executable File
72 lines
2.7 KiB
C++
Executable File
/*
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* Copyright 2017 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_TEST_HELPERS_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_TEST_HELPERS_H_
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#include <memory>
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/mapping/proto/serialization.pb.h"
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#include "cartographer/sensor/timed_point_cloud_data.h"
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namespace cartographer {
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namespace mapping {
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namespace testing {
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std::unique_ptr<::cartographer::common::LuaParameterDictionary>
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ResolveLuaParameters(const std::string& lua_code);
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std::vector<cartographer::sensor::TimedPointCloudData>
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GenerateFakeRangeMeasurements(double travel_distance, double duration,
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double time_step);
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std::vector<cartographer::sensor::TimedPointCloudData>
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GenerateFakeRangeMeasurements(const Eigen::Vector3f& translation,
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double duration, double time_step,
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const transform::Rigid3f& local_to_global);
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proto::Submap CreateFakeSubmap3D(int trajectory_id = 1, int submap_index = 1,
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bool finished = true);
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proto::Node CreateFakeNode(int trajectory_id = 1, int node_index = 1);
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proto::PoseGraph::Constraint CreateFakeConstraint(const proto::Node& node,
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const proto::Submap& submap);
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proto::Trajectory* CreateTrajectoryIfNeeded(int trajectory_id,
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proto::PoseGraph* pose_graph);
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proto::PoseGraph::LandmarkPose CreateFakeLandmark(
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const std::string& landmark_id, const transform::Rigid3d& global_pose);
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void AddToProtoGraph(const proto::Node& node_data,
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proto::PoseGraph* pose_graph);
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void AddToProtoGraph(const proto::Submap& submap_data,
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proto::PoseGraph* pose_graph);
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void AddToProtoGraph(const proto::PoseGraph::Constraint& constraint,
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proto::PoseGraph* pose_graph);
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void AddToProtoGraph(const proto::PoseGraph::LandmarkPose& landmark_node,
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proto::PoseGraph* pose_graph);
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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_TEST_HELPERS_H_
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