cartographer: test_helpers.h 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 #ifndef CARTOGRAPHER_TESTING_TEST_HELPERS_H_
00018 #define CARTOGRAPHER_TESTING_TEST_HELPERS_H_
00019 
00020 #include "gmock/gmock.h"
00021 #include "google/protobuf/text_format.h"
00022 #include "google/protobuf/util/message_differencer.h"
00023 
00024 namespace cartographer {
00025 namespace testing {
00026 
00027 template <typename ProtoType>
00028 ProtoType ParseProto(const std::string& proto_string) {
00029   ProtoType proto;
00030   EXPECT_TRUE(
00031       ::google::protobuf::TextFormat::ParseFromString(proto_string, &proto));
00032   return proto;
00033 }
00034 
00035 MATCHER_P(EqualsProto, expected_proto_string, "") {
00036   using ConstProtoType = typename std::remove_reference<decltype(arg)>::type;
00037   using ProtoType = typename std::remove_cv<ConstProtoType>::type;
00038 
00039   return google::protobuf::util::MessageDifferencer::Equals(
00040       arg, ParseProto<ProtoType>(expected_proto_string));
00041 }
00042 
00043 ::testing::Matcher<double> Near(double expected) {
00044   constexpr double kPrecision = 1e-05;
00045   return ::testing::DoubleNear(expected, kPrecision);
00046 }
00047 
00048 }  // namespace testing
00049 }  // namespace cartographer
00050 
00051 #endif  // CARTOGRAPHER_TESTING_TEST_HELPERS_H_