MockVioFrontendInterface.hpp

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/*********************************************************************************
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
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 *  Created on: Aug 21, 2014
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *********************************************************************************/

#ifndef MOCK_FRONTEND_HPP_
#define MOCK_FRONTEND_HPP_

#define GTEST_USE_OWN_TR1_TUPLE 0
#include "gmock/gmock.h"
#include "gtest/gtest.h"

namespace okvis {

class MockVioFrontendInterface{
 public:
  MOCK_METHOD4(detectAndDescribe,
      bool(size_t cameraIndex, std::shared_ptr<okvis::MultiFrame> frameOut, const okvis::kinematics::Transformation& T_WC, const std::vector<cv::KeyPoint> * keypoints));
  MOCK_METHOD6(dataAssociationAndInitialization,
      bool(okvis::VioBackendInterface& estimator, okvis::kinematics::Transformation& T_WS_propagated, const okvis::VioParameters & params, const std::shared_ptr<okvis::MapPointVector> map, std::shared_ptr<okvis::MultiFrame> framesInOut, bool* asKeyframe));
  MOCK_CONST_METHOD8(propagation,
      bool(const okvis::ImuMeasurementDeque & imuMeasurements, const okvis::ImuParameters & imuParams, okvis::kinematics::Transformation& T_WS_propagated, okvis::SpeedAndBias & speedAndBiases, const okvis::Time& t_start, const okvis::Time& t_end, Eigen::Matrix<double, 15, 15>* covariance, Eigen::Matrix<double, 15, 15>* jacobian));
  MOCK_METHOD1(setBriskDetectionOctaves,
      void(size_t octaves));
  MOCK_METHOD1(setBriskDetectionThreshold,
      void(double threshold));
};

}  // namespace okvis


#endif /* MOCK_DUMMYVIO_HPP_ */