| 428 | } |
| 429 | |
| 430 | unique_ptr<IndexGraph> BuildIndexGraph(unique_ptr<TestGeometryLoader> geometryLoader, |
| 431 | shared_ptr<EdgeEstimator> estimator, vector<Joint> const & joints) |
| 432 | { |
| 433 | auto graph = make_unique<IndexGraph>(make_shared<Geometry>(std::move(geometryLoader)), estimator); |
| 434 | graph->Import(joints); |
| 435 | return graph; |
| 436 | } |
| 437 | |
| 438 | unique_ptr<SingleVehicleWorldGraph> BuildWorldGraph(unique_ptr<ZeroGeometryLoader> geometryLoader, |
| 439 | shared_ptr<EdgeEstimator> estimator, vector<Joint> const & joints) |