cartographer: timestamped_transform

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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/transform/timestamped_transform.h"
00018 
00019 #include "cartographer/transform/rigid_transform_test_helpers.h"
00020 #include "gmock/gmock.h"
00021 #include "gtest/gtest.h"
00022 
00023 namespace cartographer {
00024 namespace transform {
00025 namespace {
00026 
00027 TEST(TimestampedTransformTest, ToProtoAndBack) {
00028   const TimestampedTransform expected{
00029       common::FromUniversal(12345678),
00030       Rigid3d(Eigen::Vector3d(1., 2., 3.),
00031               Eigen::Quaterniond(1., 2., 3., 4.).normalized())};
00032   const TimestampedTransform actual = FromProto(ToProto(expected));
00033   EXPECT_EQ(expected.time, actual.time);
00034   EXPECT_THAT(actual.transform, IsNearly(expected.transform, 1e-6));
00035 }
00036 
00037 }  // namespace
00038 }  // namespace transform
00039 }  // namespace cartographer