10 #include <gtest/gtest.h>
14 #include <test_mrpt_common.h>
16 TEST(CIncrementalMapPartitioner, test_dataset)
26 const std::string map_file =
27 mrpt::UNITTEST_BASEDIR +
28 std::string(
"/share/mrpt/datasets/malaga-cs-fac-building.simplemap.gz");
34 for (
const auto& pair : in_map)
36 const auto& [posePDF, sf] = pair;
40 std::vector<std::vector<uint32_t>> parts;
44 if (parts.size() != 2UL)
return;
46 const std::vector<uint32_t>
47 expected_p0 = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12,
48 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25,
49 26, 27, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72,
50 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85,
51 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98},
52 expected_p1 = {28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39,
53 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51,
54 52, 53, 54, 55, 56, 57, 58, 59, 60, 61};