Clean-up dependencies of map_builder and put getters to the header. (#989)

cartographer/mapping/map_builder.cc

@@ -16,12 +16,6 @@
 
 #include "cartographer/mapping/map_builder.h"
 
-#include <cmath>
-#include <limits>
-#include <memory>
-#include <unordered_set>
-#include <utility>
-
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
@@ -33,10 +27,8 @@
 #include "cartographer/sensor/internal/collator.h"
 #include "cartographer/sensor/internal/trajectory_collator.h"
 #include "cartographer/sensor/internal/voxel_filter.h"
-#include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
-#include "glog/logging.h"
 
 namespace cartographer {
 namespace mapping {
@@ -142,11 +134,6 @@ int MapBuilder::AddTrajectoryForDeserialization(
   return trajectory_id;
 }
 
-TrajectoryBuilderInterface* MapBuilder::GetTrajectoryBuilder(
-    const int trajectory_id) const {
-  return trajectory_builders_.at(trajectory_id).get();
-}
-
 void MapBuilder::FinishTrajectory(const int trajectory_id) {
   sensor_collator_->FinishTrajectory(trajectory_id);
   pose_graph_->FinishTrajectory(trajectory_id);
@@ -411,16 +398,5 @@ void MapBuilder::LoadState(io::ProtoStreamReaderInterface* const reader,
   CHECK(reader->eof());
 }
 
-int MapBuilder::num_trajectory_builders() const {
-  return trajectory_builders_.size();
-}
-
-PoseGraphInterface* MapBuilder::pose_graph() { return pose_graph_.get(); }
-
-const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>&
-MapBuilder::GetAllTrajectoryBuilderOptions() const {
-  return all_trajectory_builder_options_;
-}
-
 }  // namespace mapping
 }  // namespace cartographer

cartographer/mapping/map_builder.h

@@ -20,7 +20,6 @@
 #include "cartographer/mapping/map_builder_interface.h"
 
 #include <memory>
-#include <set>
 
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/mapping/pose_graph.h"
@@ -52,9 +51,6 @@ class MapBuilder : public MapBuilderInterface {
       const proto::TrajectoryBuilderOptionsWithSensorIds&
           options_with_sensor_ids_proto) override;
 
-  mapping::TrajectoryBuilderInterface* GetTrajectoryBuilder(
-      int trajectory_id) const override;
-
   void FinishTrajectory(int trajectory_id) override;
 
   std::string SubmapToProto(const SubmapId& submap_id,
@@ -65,12 +61,23 @@ class MapBuilder : public MapBuilderInterface {
   void LoadState(io::ProtoStreamReaderInterface* reader,
                  bool load_frozen_state) override;
 
-  int num_trajectory_builders() const override;
+  mapping::PoseGraphInterface* pose_graph() override {
+    return pose_graph_.get();
+  }
 
-  mapping::PoseGraphInterface* pose_graph() override;
+  int num_trajectory_builders() const override {
+    return trajectory_builders_.size();
+  }
+
+  mapping::TrajectoryBuilderInterface* GetTrajectoryBuilder(
+      int trajectory_id) const override {
+    return trajectory_builders_.at(trajectory_id).get();
+  }
 
   const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>&
-  GetAllTrajectoryBuilderOptions() const override;
+  GetAllTrajectoryBuilderOptions() const override {
+    return all_trajectory_builder_options_;
+  }
 
  private:
   const proto::MapBuilderOptions options_;

cartographer/mapping/map_builder_test.cc

@@ -16,21 +16,16 @@
 
 #include "cartographer/mapping/map_builder.h"
 
-#include <functional>
-#include <string>
-#include <vector>
-
 #include "cartographer/common/config.h"
 #include "cartographer/mapping/internal/test_helpers.h"
-#include "cartographer/mapping/trajectory_builder_interface.h"
 #include "gtest/gtest.h"
 
-using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
-
 namespace cartographer {
 namespace mapping {
 namespace {
 
+using SensorId = cartographer::mapping::TrajectoryBuilderInterface::SensorId;
+
 const SensorId kRangeSensorId{SensorId::SensorType::RANGE, "range"};
 const SensorId kIMUSensorId{SensorId::SensorType::IMU, "imu"};
 constexpr double kDuration = 4.;         // Seconds.