cartographer: range_data_test.cc Source File

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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #include "cartographer/sensor/range_data.h"
00018 
00019 #include <tuple>
00020 #include <vector>
00021 
00022 #include "cartographer/sensor/internal/test_helpers.h"
00023 #include "gmock/gmock.h"
00024 
00025 namespace cartographer {
00026 namespace sensor {
00027 namespace {
00028 
00029 using ::testing::Contains;
00030 
00031 class RangeDataTest : public ::testing::Test {
00032  protected:
00033   RangeDataTest() : origin_(Eigen::Vector3f(1, 1, 1)) {
00034     returns_.emplace_back(0, 1, 2);
00035     returns_.emplace_back(4, 5, 6);
00036     returns_.emplace_back(0, 1, 2);
00037     misses_.emplace_back(7, 8, 9);
00038   }
00039   Eigen::Vector3f origin_;
00040   std::vector<Eigen::Vector3f> returns_;
00041   std::vector<Eigen::Vector3f> misses_;
00042 };
00043 
00044 }  // namespace
00045 }  // namespace sensor
00046 }  // namespace cartographer