cartographer: pose_graph_trimmer

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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/mapping/pose_graph_trimmer.h"
00018 
00019 #include <vector>
00020 
00021 #include "cartographer/mapping/id.h"
00022 #include "cartographer/mapping/internal/testing/fake_trimmable.h"
00023 #include "gtest/gtest.h"
00024 
00025 namespace cartographer {
00026 namespace mapping {
00027 namespace {
00028 
00029 TEST(PureLocalizationTrimmerTest, MarksSubmapsAsExpected) {
00030   const int kTrajectoryId = 42;
00031   PureLocalizationTrimmer trimmer(kTrajectoryId, 15);
00032   testing::FakeTrimmable fake_pose_graph(kTrajectoryId, 17);
00033   trimmer.Trim(&fake_pose_graph);
00034 
00035   const auto trimmed_submaps = fake_pose_graph.trimmed_submaps();
00036   ASSERT_EQ(2, trimmed_submaps.size());
00037   EXPECT_EQ((SubmapId{kTrajectoryId, 0}), trimmed_submaps[0]);
00038   EXPECT_EQ((SubmapId{kTrajectoryId, 1}), trimmed_submaps[1]);
00039 }
00040 
00041 }  // namespace
00042 }  // namespace mapping
00043 }  // namespace cartographer