cartographer: test_helpers.cc Source File

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00001 /*
00002  * Copyright 2018 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/io/testing/test_helpers.h"
00018 
00019 #include "cartographer/mapping/proto/serialization.pb.h"
00020 
00021 namespace cartographer {
00022 namespace io {
00023 namespace testing {
00024 
00025 std::unique_ptr<InMemoryProtoStreamReader> ProtoReaderFromStrings(
00026     const std::string &header_textpb,
00027     const std::initializer_list<std::string> &data_textpbs) {
00028   std::queue<std::unique_ptr<::google::protobuf::Message>> proto_queue;
00029   proto_queue.emplace(absl::make_unique<
00030                       ::cartographer::mapping::proto::SerializationHeader>(
00031       ProtoFromStringOrDie<::cartographer::mapping::proto::SerializationHeader>(
00032           header_textpb)));
00033   for (const std::string &data_textpb : data_textpbs) {
00034     proto_queue.emplace(
00035         absl::make_unique<::cartographer::mapping::proto::SerializedData>(
00036             ProtoFromStringOrDie<
00037                 ::cartographer::mapping::proto::SerializedData>(data_textpb)));
00038   }
00039   return absl::make_unique<InMemoryProtoStreamReader>(std::move(proto_queue));
00040 }
00041 
00042 }  // namespace testing
00043 }  // namespace io
00044 }  // namespace cartographer