From 20a980aade4d4e0c4d60d6f0e2b593b1db4d645d Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Thu, 8 Mar 2018 13:09:43 +0100
Subject: [PATCH] Remove 'pose_graph_*d.h' from local_slam_result_data.h.
 (#965)

---
 .../mapping/local_slam_result_data.cc         | 32 ++++---------------
 cartographer/mapping/local_slam_result_data.h | 18 ++++++++---
 2 files changed, 19 insertions(+), 31 deletions(-)

diff --git a/cartographer/mapping/local_slam_result_data.cc b/cartographer/mapping/local_slam_result_data.cc
index 6fcea8e..17ecd8d 100644
--- a/cartographer/mapping/local_slam_result_data.cc
+++ b/cartographer/mapping/local_slam_result_data.cc
@@ -15,54 +15,34 @@
  */
 
 #include "local_slam_result_data.h"
+#include "cartographer/mapping/2d/pose_graph_2d.h"
+#include "cartographer/mapping/3d/pose_graph_3d.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 
 namespace cartographer {
 namespace mapping {
 
-LocalSlamResultData::LocalSlamResultData(const std::string& sensor_id,
-                                         common::Time time)
-    : Data(sensor_id), time_(time) {}
-
-LocalSlamResult2D::LocalSlamResult2D(
-    const std::string& sensor_id, common::Time time,
-    std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
-    const std::vector<std::shared_ptr<const mapping::Submap2D>>&
-        insertion_submaps)
-    : LocalSlamResultData(sensor_id, time),
-      node_data_(node_data),
-      insertion_submaps_(insertion_submaps) {}
-
 void LocalSlamResult2D::AddToTrajectoryBuilder(
-    mapping::TrajectoryBuilderInterface* const trajectory_builder) {
+    TrajectoryBuilderInterface* const trajectory_builder) {
   trajectory_builder->AddLocalSlamResultData(
       common::make_unique<LocalSlamResult2D>(*this));
 }
 
 void LocalSlamResult2D::AddToPoseGraph(int trajectory_id,
-                                       mapping::PoseGraph* pose_graph) const {
+                                       PoseGraph* pose_graph) const {
   DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph));
   PoseGraph2D* pose_graph_2d = static_cast<PoseGraph2D*>(pose_graph);
   pose_graph_2d->AddNode(node_data_, trajectory_id, insertion_submaps_);
 }
 
-LocalSlamResult3D::LocalSlamResult3D(
-    const std::string& sensor_id, common::Time time,
-    std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
-    const std::vector<std::shared_ptr<const mapping::Submap3D>>&
-        insertion_submaps)
-    : LocalSlamResultData(sensor_id, time),
-      node_data_(node_data),
-      insertion_submaps_(insertion_submaps) {}
-
 void LocalSlamResult3D::AddToTrajectoryBuilder(
-    mapping::TrajectoryBuilderInterface* const trajectory_builder) {
+    TrajectoryBuilderInterface* const trajectory_builder) {
   trajectory_builder->AddLocalSlamResultData(
       common::make_unique<LocalSlamResult3D>(*this));
 }
 
 void LocalSlamResult3D::AddToPoseGraph(int trajectory_id,
-                                       mapping::PoseGraph* pose_graph) const {
+                                       PoseGraph* pose_graph) const {
   DCHECK(dynamic_cast<PoseGraph3D*>(pose_graph));
   PoseGraph3D* pose_graph_3d = static_cast<PoseGraph3D*>(pose_graph);
   pose_graph_3d->AddNode(node_data_, trajectory_id, insertion_submaps_);
diff --git a/cartographer/mapping/local_slam_result_data.h b/cartographer/mapping/local_slam_result_data.h
index fa89ead..1397511 100644
--- a/cartographer/mapping/local_slam_result_data.h
+++ b/cartographer/mapping/local_slam_result_data.h
@@ -17,8 +17,9 @@
 #ifndef CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
 #define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
 
-#include "cartographer/mapping/2d/pose_graph_2d.h"
-#include "cartographer/mapping/3d/pose_graph_3d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
+#include "cartographer/mapping/3d/submap_3d.h"
+#include "cartographer/mapping/pose_graph.h"
 #include "cartographer/sensor/data.h"
 
 namespace cartographer {
@@ -27,7 +28,8 @@ namespace mapping {
 class TrajectoryBuilderInterface;
 class LocalSlamResultData : public cartographer::sensor::Data {
  public:
-  LocalSlamResultData(const std::string& sensor_id, common::Time time);
+  LocalSlamResultData(const std::string& sensor_id, common::Time time)
+      : Data(sensor_id), time_(time) {}
 
   common::Time GetTime() const override { return time_; }
   virtual void AddToPoseGraph(int trajectory_id,
@@ -42,7 +44,10 @@ class LocalSlamResult2D : public LocalSlamResultData {
   LocalSlamResult2D(
       const std::string& sensor_id, common::Time time,
       std::shared_ptr<const TrajectoryNode::Data> node_data,
-      const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps);
+      const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps)
+      : LocalSlamResultData(sensor_id, time),
+        node_data_(node_data),
+        insertion_submaps_(insertion_submaps) {}
 
   void AddToTrajectoryBuilder(
       TrajectoryBuilderInterface* const trajectory_builder) override;
@@ -58,7 +63,10 @@ class LocalSlamResult3D : public LocalSlamResultData {
   LocalSlamResult3D(
       const std::string& sensor_id, common::Time time,
       std::shared_ptr<const TrajectoryNode::Data> node_data,
-      const std::vector<std::shared_ptr<const Submap3D>>& insertion_submaps);
+      const std::vector<std::shared_ptr<const Submap3D>>& insertion_submaps)
+      : LocalSlamResultData(sensor_id, time),
+        node_data_(node_data),
+        insertion_submaps_(insertion_submaps) {}
 
   void AddToTrajectoryBuilder(
       TrajectoryBuilderInterface* const trajectory_builder) override;