fake_trimmable.h

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/*
 * 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_FAKE_TRIMMABLE_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_TESTING_FAKE_TRIMMABLE_H_

#include <vector>

#include "cartographer/mapping/pose_graph_trimmer.h"

namespace cartographer {
namespace mapping {
namespace testing {

class FakeTrimmable : public Trimmable {
 public:
  FakeTrimmable() = default;

  // Populates dummy SubmapIDs.
  FakeTrimmable(int trajectory_id, int num_submaps) {
    for (int index = 0; index < num_submaps; ++index) {
      submap_data_.Insert(SubmapId{trajectory_id, index}, {});
    }
  }
  ~FakeTrimmable() override {}

  int num_submaps(const int trajectory_id) const override {
    return submap_data_.size() - trimmed_submaps_.size();
  }

  std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override {
    std::vector<SubmapId> submap_ids;
    for (const auto& submap : submap_data_) {
      submap_ids.push_back(submap.id);
    }
    return submap_ids;
  }

  void set_submap_data(
      const MapById<SubmapId, PoseGraphInterface::SubmapData>& submap_data) {
    submap_data_ = submap_data;
  }

  MapById<SubmapId, PoseGraphInterface::SubmapData>* mutable_submap_data() {
    return &submap_data_;
  }

  MapById<SubmapId, PoseGraphInterface::SubmapData> GetOptimizedSubmapData()
      const override {
    return submap_data_;
  }

  void set_trajectory_nodes(
      const MapById<NodeId, TrajectoryNode>& trajectory_nodes) {
    trajectory_nodes_ = trajectory_nodes;
  }

  MapById<NodeId, TrajectoryNode>* mutable_trajectory_nodes() {
    return &trajectory_nodes_;
  }

  const MapById<NodeId, TrajectoryNode>& GetTrajectoryNodes() const override {
    return trajectory_nodes_;
  }

  void set_constraints(
      const std::vector<PoseGraphInterface::Constraint>& constraints) {
    constraints_ = constraints;
  }

  std::vector<PoseGraphInterface::Constraint>* mutable_constraints() {
    return &constraints_;
  }

  const std::vector<PoseGraphInterface::Constraint>& GetConstraints()
      const override {
    return constraints_;
  }

  void TrimSubmap(const SubmapId& submap_id) override {
    trimmed_submaps_.push_back(submap_id);
  }

  bool IsFinished(const int trajectory_id) const override { return false; }

  void SetTrajectoryState(
      int /*trajectory_id*/,
      PoseGraphInterface::TrajectoryState /*state*/) override {}

  std::vector<SubmapId> trimmed_submaps() { return trimmed_submaps_; }

 private:
  std::vector<SubmapId> trimmed_submaps_;

  std::vector<PoseGraphInterface::Constraint> constraints_;
  MapById<NodeId, TrajectoryNode> trajectory_nodes_;
  MapById<SubmapId, PoseGraphInterface::SubmapData> submap_data_;
};

}  // namespace testing
}  // namespace mapping
}  // namespace cartographer

#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TESTING_FAKE_TRIMMABLE_H_