From 0c6d6979c471f935020c40446273054b37793db9 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Wed, 16 Aug 2017 16:22:42 +0200
Subject: [PATCH] Fix header. (#457)

RegisterBuiltInPointsProcessors() declaration was broken in #455.
---
 .../io/points_processor_pipeline_builder.h    |  2 +-
 .../points_processor_pipeline_builder_test.cc | 40 +++++++++++++++++++
 .../sparse_pose_graph/constraint_builder.h    |  3 +-
 3 files changed, 43 insertions(+), 2 deletions(-)
 create mode 100644 cartographer/io/points_processor_pipeline_builder_test.cc

diff --git a/cartographer/io/points_processor_pipeline_builder.h b/cartographer/io/points_processor_pipeline_builder.h
index 0cdae3c..fe5fd19 100644
--- a/cartographer/io/points_processor_pipeline_builder.h
+++ b/cartographer/io/points_processor_pipeline_builder.h
@@ -62,7 +62,7 @@ class PointsProcessorPipelineBuilder {
 // 'builder'.
 void RegisterBuiltInPointsProcessors(
     const std::vector<mapping::proto::Trajectory>& trajectories,
-    FileWriterFactory file_writer_factory,
+    const FileWriterFactory& file_writer_factory,
     PointsProcessorPipelineBuilder* builder);
 
 }  // namespace io
diff --git a/cartographer/io/points_processor_pipeline_builder_test.cc b/cartographer/io/points_processor_pipeline_builder_test.cc
new file mode 100644
index 0000000..942b009
--- /dev/null
+++ b/cartographer/io/points_processor_pipeline_builder_test.cc
@@ -0,0 +1,40 @@
+/*
+ * Copyright 2017 The Cartographer Authors
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "cartographer/io/points_processor_pipeline_builder.h"
+
+#include <string>
+
+#include "cartographer/common/port.h"
+#include "cartographer/io/file_writer.h"
+#include "gtest/gtest.h"
+
+namespace cartographer {
+namespace io {
+namespace {
+
+TEST(PointsProcessorPipelineBuilderTest, RegisterBuiltInPointsProcessors) {
+  PointsProcessorPipelineBuilder builder;
+  FileWriterFactory dummy_factory =
+      [](const string& filename) -> std::unique_ptr<FileWriter> {
+    return nullptr;
+  };
+  RegisterBuiltInPointsProcessors({}, dummy_factory, &builder);
+}
+
+}  // namespace
+}  // namespace io
+}  // namespace cartographer
diff --git a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
index 0f7e999..1d6fa2d 100644
--- a/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
+++ b/cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h
@@ -121,7 +121,8 @@ class ConstraintBuilder {
   void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
       const mapping::SubmapId& submap_id,
       const std::vector<mapping::TrajectoryNode>& submap_nodes,
-      const Submap* submap, const std::function<void()>& work_item) REQUIRES(mutex_);
+      const Submap* submap, const std::function<void()>& work_item)
+      REQUIRES(mutex_);
 
   // Constructs the scan matcher for a 'submap', then schedules its work items.
   void ConstructSubmapScanMatcher(