Adds configuration files test. (cartographer-project#129)

cartographer/common/CMakeLists.txt

@@ -171,6 +171,15 @@ google_test(common_blocking_queue_test
     common_time
 )
 
+google_test(common_configuration_files_test
+  SRCS
+    configuration_files_test.cc
+  DEPENDS
+    common_configuration_file_resolver
+    common_lua_parameter_dictionary
+    mapping_map_builder
+)
+
 google_test(common_fixed_ratio_sampler_test
   SRCS
     fixed_ratio_sampler_test.cc

cartographer/common/config.h.cmake

@@ -22,6 +22,7 @@ namespace common {
 
 constexpr char kConfigurationFilesDirectory[] =
     "@CARTOGRAPHER_CONFIGURATION_FILES_DIRECTORY@";
+constexpr char kSourceDirectory[] = "@CMAKE_SOURCE_DIR@";
 
 }  // namespace common
 }  // namespace cartographer

cartographer/common/configuration_files_test.cc

@@ -0,0 +1,45 @@
+/*
+ * Copyright 2016 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.
+ */
+
+#include <string>
+#include <vector>
+
+#include "cartographer/common/config.h"
+#include "cartographer/common/configuration_file_resolver.h"
+#include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/mapping/map_builder.h"
+#include "gtest/gtest.h"
+
+namespace cartographer_ros {
+namespace {
+
+TEST(ConfigurationFilesTest, ValidateMapBuilderOptions) {
+  const string kCode = R"text(
+      include "map_builder.lua"
+      MAP_BUILDER.use_trajectory_builder_2d = true
+      return MAP_BUILDER)text";
+  EXPECT_NO_FATAL_FAILURE({
+    auto file_resolver = ::cartographer::common::make_unique<
+        ::cartographer::common::ConfigurationFileResolver>(std::vector<string>{
+        string(::cartographer::common::kSourceDirectory) + "/configuration_files"});
+    ::cartographer::common::LuaParameterDictionary lua_parameter_dictionary(
+        kCode, std::move(file_resolver));
+    ::cartographer::mapping::CreateMapBuilderOptions(&lua_parameter_dictionary);
+  });
+}
+
+}  // namespace
+}  // namespace cartographer_ros