From 057bd8ce6a5746a449df66ccf66fad0d3a559153 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Fri, 12 Jan 2018 21:46:47 +0100
Subject: [PATCH] Public SpaCostFunction::Compute* (#814)

---
 cartographer/mapping_2d/pose_graph/spa_cost_function.h | 6 +++---
 cartographer/mapping_3d/pose_graph/spa_cost_function.h | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/cartographer/mapping_2d/pose_graph/spa_cost_function.h b/cartographer/mapping_2d/pose_graph/spa_cost_function.h
index 95969af..3ea80ad 100644
--- a/cartographer/mapping_2d/pose_graph/spa_cost_function.h
+++ b/cartographer/mapping_2d/pose_graph/spa_cost_function.h
@@ -50,9 +50,6 @@ class SpaCostFunction {
     return true;
   }
 
- private:
-  explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
-
   // Computes the error between the node-to-submap alignment 'zbar_ij' and the
   // difference of submap pose 'c_i' and node pose 'c_j' which are both in an
   // arbitrary common frame.
@@ -86,6 +83,9 @@ class SpaCostFunction {
     e[2] = e_ij[2] * T(pose.rotation_weight);
   }
 
+ private:
+  explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
+
   const Constraint::Pose pose_;
 };
 
diff --git a/cartographer/mapping_3d/pose_graph/spa_cost_function.h b/cartographer/mapping_3d/pose_graph/spa_cost_function.h
index 1139191..6fe0b95 100644
--- a/cartographer/mapping_3d/pose_graph/spa_cost_function.h
+++ b/cartographer/mapping_3d/pose_graph/spa_cost_function.h
@@ -53,9 +53,6 @@ class SpaCostFunction {
     return true;
   }
 
- private:
-  explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
-
   // Computes the error between the node-to-submap alignment 'zbar_ij' and the
   // difference of submap pose 'c_i' and node pose 'c_j' which are both in an
   // arbitrary common frame.
@@ -108,6 +105,9 @@ class SpaCostFunction {
     }
   }
 
+ private:
+  explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
+
   const Constraint::Pose pose_;
 };