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00017 #include <string>
00018 #include <vector>
00019
00020 #include "cartographer/common/config.h"
00021 #include "cartographer/common/configuration_file_resolver.h"
00022 #include "cartographer/common/lua_parameter_dictionary.h"
00023 #include "cartographer/mapping/map_builder.h"
00024 #include "gtest/gtest.h"
00025
00026 namespace cartographer {
00027 namespace {
00028
00029 TEST(ConfigurationFilesTest, ValidateMapBuilderOptions) {
00030 const std::string kCode = R"text(
00031 include "map_builder.lua"
00032 MAP_BUILDER.use_trajectory_builder_2d = true
00033 return MAP_BUILDER)text";
00034 EXPECT_NO_FATAL_FAILURE({
00035 auto file_resolver =
00036 ::absl::make_unique< ::cartographer::common::ConfigurationFileResolver>(
00037 std::vector<std::string>{
00038 std::string(::cartographer::common::kSourceDirectory) +
00039 "/configuration_files"});
00040 ::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
00041 kCode, std::move(file_resolver));
00042 ::cartographer::mapping::CreateMapBuilderOptions(&lua_parameter_dictionary);
00043 });
00044 }
00045
00046 TEST(ConfigurationFilesTest, ValidateTrajectoryBuilderOptions) {
00047 const std::string kCode = R"text(
00048 include "trajectory_builder.lua"
00049 TRAJECTORY_BUILDER.trajectory_builder_2d.use_imu_data = false
00050 return TRAJECTORY_BUILDER)text";
00051 EXPECT_NO_FATAL_FAILURE({
00052 auto file_resolver =
00053 ::absl::make_unique< ::cartographer::common::ConfigurationFileResolver>(
00054 std::vector<std::string>{
00055 std::string(::cartographer::common::kSourceDirectory) +
00056 "/configuration_files"});
00057 ::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
00058 kCode, std::move(file_resolver));
00059 ::cartographer::mapping::CreateTrajectoryBuilderOptions(
00060 &lua_parameter_dictionary);
00061 });
00062 }
00063
00064 }
00065 }