parent
ba6f782949
commit
0c6d6979c4
|
@ -62,7 +62,7 @@ class PointsProcessorPipelineBuilder {
|
||||||
// 'builder'.
|
// 'builder'.
|
||||||
void RegisterBuiltInPointsProcessors(
|
void RegisterBuiltInPointsProcessors(
|
||||||
const std::vector<mapping::proto::Trajectory>& trajectories,
|
const std::vector<mapping::proto::Trajectory>& trajectories,
|
||||||
FileWriterFactory file_writer_factory,
|
const FileWriterFactory& file_writer_factory,
|
||||||
PointsProcessorPipelineBuilder* builder);
|
PointsProcessorPipelineBuilder* builder);
|
||||||
|
|
||||||
} // namespace io
|
} // namespace io
|
||||||
|
|
|
@ -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
|
|
@ -121,7 +121,8 @@ class ConstraintBuilder {
|
||||||
void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
|
void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
|
||||||
const mapping::SubmapId& submap_id,
|
const mapping::SubmapId& submap_id,
|
||||||
const std::vector<mapping::TrajectoryNode>& submap_nodes,
|
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.
|
// Constructs the scan matcher for a 'submap', then schedules its work items.
|
||||||
void ConstructSubmapScanMatcher(
|
void ConstructSubmapScanMatcher(
|
||||||
|
|
Loading…
Reference in New Issue