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Unit tests review changes
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2 files changed

+80
-86
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2 files changed

+80
-86
lines changed

‎simulation/traffic_simulator/include/traffic_simulator/behavior/behavior_plugin_base.hpp‎

Lines changed: 7 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -44,13 +44,13 @@ class BehaviorPluginBase
4444
virtual void update(double current_time, double step_time) = 0;
4545
virtual const std::string & getCurrentAction() const = 0;
4646

47-
#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \
48-
virtual TYPE get##NAME() = 0; \
49-
virtual void set##NAME(const TYPE & value) = 0; \
50-
auto get##NAME##Key() const -> const std::string & \
51-
{ \
52-
static const std::string key = KEY; \
53-
return key; \
47+
#define DEFINE_GETTER_SETTER(NAME, KEY, TYPE) \
48+
virtual TYPE get##NAME() = 0; \
49+
virtual void set##NAME(const TYPE & value) = 0; \
50+
auto get##NAME##Key() const->const std::string & \
51+
{ \
52+
static const std::string key = KEY; \
53+
return key; \
5454
}
5555

5656
// clang-format off

‎simulation/traffic_simulator/test/src/data_type/test_lanelet_pose.cpp‎

Lines changed: 73 additions & 79 deletions
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,6 @@
1414

1515
#include <gtest/gtest.h>
1616

17-
#include <scenario_simulator_exception/exception.hpp>
1817
#include <traffic_simulator/data_type/lanelet_pose.hpp>
1918

2019
#include "../helper_functions.hpp"
@@ -26,13 +25,19 @@ int main(int argc, char ** argv)
2625
testing::InitGoogleTest(&argc, argv);
2726
return RUN_ALL_TESTS();
2827
}
28+
class CanonicalizedLaneletPoseTest : public testing::Test
29+
{
30+
protected:
31+
CanonicalizedLaneletPoseTest() : hdmap_utils(makeHdMapUtilsSharedPointer()) {}
32+
33+
std::shared_ptr<hdmap_utils::HdMapUtils> hdmap_utils;
34+
};
2935

3036
/**
3137
* @note Test constructor behavior with route_lanelets argument present when canonicalization function fails.
3238
*/
33-
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid)
39+
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute_invalid)
3440
{
35-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
3641
EXPECT_THROW(
3742
CanonicalizedLaneletPose(
3843
traffic_simulator::helper::constructLaneletPose(120576, 14.6356, 0.0), lanelet::Ids{},
@@ -43,9 +48,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute_invalid)
4348
/**
4449
* @note Test constructor behavior with route_lanelets argument present when canonicalization function succeeds
4550
*/
46-
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute)
51+
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withRoute)
4752
{
48-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
4953
std::shared_ptr<CanonicalizedLaneletPose> pose;
5054
EXPECT_NO_THROW(
5155
pose = std::make_shared<CanonicalizedLaneletPose>(
@@ -59,9 +63,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withRoute)
5963
/**
6064
* @note Test constructor behavior with route_lanelets argument absent when canonicalization function fails
6165
*/
62-
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid)
66+
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute_invalid)
6367
{
64-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
6568
EXPECT_THROW(
6669
CanonicalizedLaneletPose(
6770
traffic_simulator::helper::constructLaneletPose(120576, 0.0, 0.0), hdmap_utils),
@@ -71,9 +74,8 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute_invalid)
7174
/**
7275
* @note Test constructor behavior with route_lanelets argument absent when canonicalization function succeeds
7376
*/
74-
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute)
77+
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_withoutRoute)
7578
{
76-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
7779
std::shared_ptr<CanonicalizedLaneletPose> pose;
7880
EXPECT_NO_THROW(
7981
pose = std::make_shared<CanonicalizedLaneletPose>(
@@ -86,12 +88,11 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_withoutRoute)
8688
/**
8789
* @note Test copy constructor behavior
8890
*/
89-
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor)
91+
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_copyConstructor)
9092
{
91-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
92-
CanonicalizedLaneletPose pose(
93+
const CanonicalizedLaneletPose pose(
9394
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
94-
CanonicalizedLaneletPose pose_copy(pose);
95+
const CanonicalizedLaneletPose pose_copy(pose);
9596
EXPECT_LANELET_POSE_EQ(
9697
static_cast<traffic_simulator::LaneletPose>(pose),
9798
static_cast<traffic_simulator::LaneletPose>(CanonicalizedLaneletPose(pose)));
@@ -100,13 +101,12 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_copyConstructor)
100101
/**
101102
* @note Test move constructor behavior
102103
*/
103-
TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor)
104+
TEST_F(CanonicalizedLaneletPoseTest, CanonicalizedLaneletPose_moveConstructor)
104105
{
105-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
106-
CanonicalizedLaneletPose pose(
106+
const CanonicalizedLaneletPose pose(
107107
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
108-
CanonicalizedLaneletPose pose2(pose);
109-
CanonicalizedLaneletPose pose_move = std::move(pose2);
108+
const CanonicalizedLaneletPose pose2(pose);
109+
const CanonicalizedLaneletPose pose_move = std::move(pose2);
110110
EXPECT_LANELET_POSE_EQ(
111111
static_cast<traffic_simulator::LaneletPose>(pose),
112112
static_cast<traffic_simulator::LaneletPose>(pose_move));
@@ -115,10 +115,9 @@ TEST(CanonicalizedLaneletPose, CanonicalizedLaneletPose_moveConstructor)
115115
/**
116116
* @note Test copy assignment operator behavior
117117
*/
118-
TEST(CanonicalizedLaneletPose, copyAssignment)
118+
TEST_F(CanonicalizedLaneletPoseTest, copyAssignment)
119119
{
120-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
121-
CanonicalizedLaneletPose pose(
120+
const CanonicalizedLaneletPose pose(
122121
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
123122
CanonicalizedLaneletPose pose_assign(
124123
traffic_simulator::helper::constructLaneletPose(34468, 0.0, 0.0), hdmap_utils);
@@ -133,12 +132,12 @@ TEST(CanonicalizedLaneletPose, copyAssignment)
133132
/**
134133
* @note Test conversion operator behavior using static_cast<LaneletPose>
135134
*/
136-
TEST(CanonicalizedLaneletPose, conversionLaneletPose)
135+
TEST_F(CanonicalizedLaneletPoseTest, conversionLaneletPose)
137136
{
138-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
139-
CanonicalizedLaneletPose pose(
137+
const CanonicalizedLaneletPose pose(
140138
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
141-
traffic_simulator::LaneletPose pose_casted = static_cast<traffic_simulator::LaneletPose>(pose);
139+
const traffic_simulator::LaneletPose pose_casted =
140+
static_cast<traffic_simulator::LaneletPose>(pose);
142141

143142
EXPECT_EQ(pose_casted.lanelet_id, 120659);
144143
EXPECT_DOUBLE_EQ(pose_casted.s, 0.0);
@@ -149,13 +148,12 @@ TEST(CanonicalizedLaneletPose, conversionLaneletPose)
149148
/**
150149
* @note Test conversion operator behavior using static_cast<Pose>
151150
*/
152-
TEST(CanonicalizedLaneletPose, conversionPose)
151+
TEST_F(CanonicalizedLaneletPoseTest, conversionPose)
153152
{
154-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
155-
CanonicalizedLaneletPose pose(
153+
const CanonicalizedLaneletPose pose(
156154
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
157155

158-
geometry_msgs::msg::Pose pose1 =
156+
const geometry_msgs::msg::Pose pose1 =
159157
makePose(makePoint(3822.3815, 73784.9618, -1.761), makeQuaternionFromYaw(2.060578777273));
160158

161159
EXPECT_POSE_NEAR(static_cast<geometry_msgs::msg::Pose>(pose), pose1, 0.01);
@@ -164,10 +162,9 @@ TEST(CanonicalizedLaneletPose, conversionPose)
164162
/**
165163
* @note Test function behavior when alternative poses are present
166164
*/
167-
TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true)
165+
TEST_F(CanonicalizedLaneletPoseTest, hasAlternativeLaneletPose_true)
168166
{
169-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
170-
CanonicalizedLaneletPose pose(
167+
const CanonicalizedLaneletPose pose(
171168
traffic_simulator::helper::constructLaneletPose(120659, -10.0, 0.0), hdmap_utils);
172169

173170
EXPECT_TRUE(pose.hasAlternativeLaneletPose());
@@ -176,10 +173,9 @@ TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_true)
176173
/**
177174
* @note Test function behavior when alternative poses are absent
178175
*/
179-
TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false)
176+
TEST_F(CanonicalizedLaneletPoseTest, hasAlternativeLaneletPose_false)
180177
{
181-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
182-
CanonicalizedLaneletPose pose(
178+
const CanonicalizedLaneletPose pose(
183179
traffic_simulator::helper::constructLaneletPose(120659, 10.0, 0.0), hdmap_utils);
184180

185181
EXPECT_FALSE(pose.hasAlternativeLaneletPose());
@@ -188,27 +184,28 @@ TEST(CanonicalizedLaneletPose, hasAlternativeLaneletPose_false)
188184
/**
189185
* @note Test function behavior when there are no lanelet_poses
190186
*/
191-
TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty)
187+
TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_empty)
192188
{
193-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
194-
CanonicalizedLaneletPose pose(
189+
const CanonicalizedLaneletPose pose(
195190
traffic_simulator::helper::constructLaneletPose(120659, 20.0, 0.0), hdmap_utils);
196191
const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0);
197192
const auto from2 = traffic_simulator::helper::constructLaneletPose(34579, 10.0, 0.0);
198193

199194
const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils);
200195
const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils);
201196

197+
ASSERT_TRUE(result1);
198+
ASSERT_TRUE(result2);
199+
202200
EXPECT_EQ(result1.value().lanelet_id, 120659);
203201
EXPECT_EQ(result2.value().lanelet_id, 120659);
204202
}
205203

206204
/**
207205
* @note Test function behavior when there is only one lanelet_pose
208206
*/
209-
TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single)
207+
TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_single)
210208
{
211-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
212209
CanonicalizedLaneletPose pose(
213210
traffic_simulator::helper::constructLaneletPose(34666, -20.0, 0.0), hdmap_utils);
214211
const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0);
@@ -217,16 +214,18 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_
217214
const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils);
218215
const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils);
219216

217+
ASSERT_TRUE(result1);
218+
ASSERT_TRUE(result2);
219+
220220
EXPECT_EQ(result1.value().lanelet_id, 34603);
221221
EXPECT_EQ(result2.value().lanelet_id, 34603);
222222
}
223223

224224
/**
225225
* @note Test function behavior when there are multiple lanelet_poses
226226
*/
227-
TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple)
227+
TEST_F(CanonicalizedLaneletPoseTest, getAlternativeLaneletPoseBaseOnShortestRouteFrom_multiple)
228228
{
229-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
230229
CanonicalizedLaneletPose pose(
231230
traffic_simulator::helper::constructLaneletPose(120659, -20.0, 0.0), hdmap_utils);
232231
const auto from1 = traffic_simulator::helper::constructLaneletPose(34603, 10.0, 0.0);
@@ -235,6 +234,9 @@ TEST(CanonicalizedLaneletPose, getAlternativeLaneletPoseBaseOnShortestRouteFrom_
235234
const auto result1 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from1, hdmap_utils);
236235
const auto result2 = pose.getAlternativeLaneletPoseBaseOnShortestRouteFrom(from2, hdmap_utils);
237236

237+
ASSERT_TRUE(result1);
238+
ASSERT_TRUE(result2);
239+
238240
EXPECT_EQ(result1.value().lanelet_id, 34603);
239241
EXPECT_EQ(result2.value().lanelet_id, 34579);
240242
}
@@ -260,16 +262,15 @@ TEST(CanonicalizedLaneletPose, setConsiderPoseByRoadSlope)
260262
/**
261263
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
262264
*/
263-
TEST(CanonicalizedLaneletPose, operatorLessEqual)
265+
TEST_F(CanonicalizedLaneletPoseTest, operatorLessEqual)
264266
{
265-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
266-
CanonicalizedLaneletPose pose(
267+
const CanonicalizedLaneletPose pose(
267268
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
268-
CanonicalizedLaneletPose pose_equal(
269+
const CanonicalizedLaneletPose pose_equal(
269270
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
270-
CanonicalizedLaneletPose pose_less(
271+
const CanonicalizedLaneletPose pose_less(
271272
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
272-
CanonicalizedLaneletPose pose_greater(
273+
const CanonicalizedLaneletPose pose_greater(
273274
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);
274275

275276
EXPECT_TRUE(pose_less <= pose);
@@ -280,16 +281,15 @@ TEST(CanonicalizedLaneletPose, operatorLessEqual)
280281
/**
281282
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
282283
*/
283-
TEST(CanonicalizedLaneletPose, operatorLess)
284+
TEST_F(CanonicalizedLaneletPoseTest, operatorLess)
284285
{
285-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
286-
CanonicalizedLaneletPose pose(
286+
const CanonicalizedLaneletPose pose(
287287
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
288-
CanonicalizedLaneletPose pose_equal(
288+
const CanonicalizedLaneletPose pose_equal(
289289
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
290-
CanonicalizedLaneletPose pose_less(
290+
const CanonicalizedLaneletPose pose_less(
291291
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
292-
CanonicalizedLaneletPose pose_greater(
292+
const CanonicalizedLaneletPose pose_greater(
293293
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);
294294

295295
EXPECT_TRUE(pose_less < pose);
@@ -300,16 +300,15 @@ TEST(CanonicalizedLaneletPose, operatorLess)
300300
/**
301301
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
302302
*/
303-
TEST(CanonicalizedLaneletPose, operatorGreaterEqual)
303+
TEST_F(CanonicalizedLaneletPoseTest, operatorGreaterEqual)
304304
{
305-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
306-
CanonicalizedLaneletPose pose(
305+
const CanonicalizedLaneletPose pose(
307306
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
308-
CanonicalizedLaneletPose pose_equal(
307+
const CanonicalizedLaneletPose pose_equal(
309308
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
310-
CanonicalizedLaneletPose pose_less(
309+
const CanonicalizedLaneletPose pose_less(
311310
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
312-
CanonicalizedLaneletPose pose_greater(
311+
const CanonicalizedLaneletPose pose_greater(
313312
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);
314313

315314
EXPECT_FALSE(pose_less >= pose);
@@ -320,16 +319,15 @@ TEST(CanonicalizedLaneletPose, operatorGreaterEqual)
320319
/**
321320
* @note Test operator calculation correctness with CanonicalizedLaneletPose of lesser, equal and greater lanelet_id
322321
*/
323-
TEST(CanonicalizedLaneletPose, operatorGreater)
322+
TEST_F(CanonicalizedLaneletPoseTest, operatorGreater)
324323
{
325-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
326-
CanonicalizedLaneletPose pose(
324+
const CanonicalizedLaneletPose pose(
327325
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
328-
CanonicalizedLaneletPose pose_equal(
326+
const CanonicalizedLaneletPose pose_equal(
329327
traffic_simulator::helper::constructLaneletPose(120659, 5.0, 0.0), hdmap_utils);
330-
CanonicalizedLaneletPose pose_less(
328+
const CanonicalizedLaneletPose pose_less(
331329
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
332-
CanonicalizedLaneletPose pose_greater(
330+
const CanonicalizedLaneletPose pose_greater(
333331
traffic_simulator::helper::constructLaneletPose(120659, 6.0, 0.0), hdmap_utils);
334332

335333
EXPECT_FALSE(pose_less > pose);
@@ -340,12 +338,11 @@ TEST(CanonicalizedLaneletPose, operatorGreater)
340338
/**
341339
* @note Test function behavior when provided two poses occupying the same lanelet_id
342340
*/
343-
TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same)
341+
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_same)
344342
{
345-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
346-
CanonicalizedLaneletPose pose1(
343+
const CanonicalizedLaneletPose pose1(
347344
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
348-
CanonicalizedLaneletPose pose2(
345+
const CanonicalizedLaneletPose pose2(
349346
traffic_simulator::helper::constructLaneletPose(120659, 1.0, 0.0), hdmap_utils);
350347

351348
EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose1, pose2));
@@ -354,10 +351,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_same)
354351
/**
355352
* @note Test function behavior when provided two poses occupying different lanelet_ids
356353
*/
357-
TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different)
354+
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withPose_different)
358355
{
359-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
360-
CanonicalizedLaneletPose pose1(
356+
const CanonicalizedLaneletPose pose1(
361357
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
362358
CanonicalizedLaneletPose pose2(
363359
traffic_simulator::helper::constructLaneletPose(34606, 1.0, 0.0), hdmap_utils);
@@ -368,10 +364,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withPose_different)
368364
/**
369365
* @note Test function behavior when provided with a pose having lanelt_id equal to the lanelet_id argument
370366
*/
371-
TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same)
367+
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_same)
372368
{
373-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
374-
CanonicalizedLaneletPose pose(
369+
const CanonicalizedLaneletPose pose(
375370
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
376371

377372
EXPECT_TRUE(traffic_simulator::isSameLaneletId(pose, 120659));
@@ -380,10 +375,9 @@ TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_same)
380375
/**
381376
* @note Test function behavior when provided with a pose having lanelet_id different to the lanelet_id argument
382377
*/
383-
TEST(CanonicalizedLaneletPose, isSameLaneletId_withLanelet_different)
378+
TEST_F(CanonicalizedLaneletPoseTest, isSameLaneletId_withLanelet_different)
384379
{
385-
auto hdmap_utils = makeHdMapUtilsSharedPointer();
386-
CanonicalizedLaneletPose pose(
380+
const CanonicalizedLaneletPose pose(
387381
traffic_simulator::helper::constructLaneletPose(120659, 0.0, 0.0), hdmap_utils);
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EXPECT_FALSE(traffic_simulator::isSameLaneletId(pose, 34606));

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