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Public SpaCostFunction::Compute* (#814)

master
gaschler 2018-01-12 21:46:47 +01:00 committed by Wally B. Feed
parent 19ff047a79
commit 057bd8ce6a
2 changed files with 6 additions and 6 deletions
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6
cartographer/mapping_2d/pose_graph/spa_cost_function.h
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@ -50,9 +50,6 @@ class SpaCostFunction {
return true; return true;
} }
private:
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
// Computes the error between the node-to-submap alignment 'zbar_ij' and the // 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 // difference of submap pose 'c_i' and node pose 'c_j' which are both in an
// arbitrary common frame. // arbitrary common frame.
@ -86,6 +83,9 @@ class SpaCostFunction {
e[2] = e_ij[2] * T(pose.rotation_weight); e[2] = e_ij[2] * T(pose.rotation_weight);
} }
private:
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
const Constraint::Pose pose_; const Constraint::Pose pose_;
}; };

6
cartographer/mapping_3d/pose_graph/spa_cost_function.h
View File

@ -53,9 +53,6 @@ class SpaCostFunction {
return true; return true;
} }
private:
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
// Computes the error between the node-to-submap alignment 'zbar_ij' and the // 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 // difference of submap pose 'c_i' and node pose 'c_j' which are both in an
// arbitrary common frame. // arbitrary common frame.
@ -108,6 +105,9 @@ class SpaCostFunction {
} }
} }
private:
explicit SpaCostFunction(const Constraint::Pose& pose) : pose_(pose) {}
const Constraint::Pose pose_; const Constraint::Pose pose_;
}; };