Rename submap finished flags (#1384)

cartographer/cloud/internal/map_builder_server.cc

@@ -192,7 +192,7 @@ void MapBuilderServer::OnLocalSlamResult(
                                        time, starting_submap_index_,
                                        *insertion_result, sensor_data.get());
     // TODO(cschuet): Make this more robust.
-    if (insertion_result->insertion_submaps.front()->finished()) {
+    if (insertion_result->insertion_submaps.front()->insertion_finished()) {
       ++starting_submap_index_;
     }
     grpc_server_->GetUnsynchronizedContext<MapBuilderContextInterface>()

cartographer/cloud/internal/sensor/serialization.cc

@@ -92,7 +92,7 @@ void CreateSensorDataForLocalSlamResult(
   for (const auto& insertion_submap : insertion_result.insertion_submaps) {
     // We only send the probability grid up if the submap is finished.
     auto* submap = proto->mutable_local_slam_result_data()->add_submaps();
-    *submap = insertion_submap->ToProto(insertion_submap->finished());
+    *submap = insertion_submap->ToProto(insertion_submap->insertion_finished());
     submap->mutable_submap_id()->set_trajectory_id(trajectory_id);
     submap->mutable_submap_id()->set_submap_index(starting_submap_index);
     ++starting_submap_index;

cartographer/io/internal/mapping_state_serialization.cc

@@ -84,7 +84,7 @@ void SerializeSubmaps(
   // Next serialize all submaps.
   for (const auto& submap_id_data : submap_data) {
     if (!include_unfinished_submaps &&
-        !submap_id_data.data.submap->finished()) {
+        !submap_id_data.data.submap->insertion_finished()) {
       continue;
     }
     SerializedData proto;

cartographer/mapping/2d/submap_2d.cc

@@ -90,7 +90,7 @@ Submap2D::Submap2D(const proto::Submap2D& proto,
     }
   }
   set_num_range_data(proto.num_range_data());
-  set_finished(proto.finished());
+  set_insertion_finished(proto.finished());
 }
 
 proto::Submap Submap2D::ToProto(const bool include_grid_data) const {
@@ -98,7 +98,7 @@ proto::Submap Submap2D::ToProto(const bool include_grid_data) const {
   auto* const submap_2d = proto.mutable_submap_2d();
   *submap_2d->mutable_local_pose() = transform::ToProto(local_pose());
   submap_2d->set_num_range_data(num_range_data());
-  submap_2d->set_finished(finished());
+  submap_2d->set_finished(insertion_finished());
   if (include_grid_data) {
     CHECK(grid_);
     *submap_2d->mutable_grid() = grid_->ToProto();
@@ -110,7 +110,7 @@ void Submap2D::UpdateFromProto(const proto::Submap& proto) {
   CHECK(proto.has_submap_2d());
   const auto& submap_2d = proto.submap_2d();
   set_num_range_data(submap_2d.num_range_data());
-  set_finished(submap_2d.finished());
+  set_insertion_finished(submap_2d.finished());
   if (proto.submap_2d().has_grid()) {
     if (proto.submap_2d().grid().has_probability_grid_2d()) {
       grid_ = absl::make_unique<ProbabilityGrid>(proto.submap_2d().grid(),
@@ -138,16 +138,16 @@ void Submap2D::InsertRangeData(
     const sensor::RangeData& range_data,
     const RangeDataInserterInterface* range_data_inserter) {
   CHECK(grid_);
-  CHECK(!finished());
+  CHECK(!insertion_finished());
   range_data_inserter->Insert(range_data, grid_.get());
   set_num_range_data(num_range_data() + 1);
 }
 
 void Submap2D::Finish() {
   CHECK(grid_);
-  CHECK(!finished());
+  CHECK(!insertion_finished());
   grid_ = grid_->ComputeCroppedGrid();
-  set_finished(true);
+  set_insertion_finished(true);
 }
 
 ActiveSubmaps2D::ActiveSubmaps2D(const proto::SubmapsOptions2D& options)
@@ -225,7 +225,7 @@ void ActiveSubmaps2D::AddSubmap(const Eigen::Vector2f& origin) {
   if (submaps_.size() >= 2) {
     // This will crop the finished Submap before inserting a new Submap to
     // reduce peak memory usage a bit.
-    CHECK(submaps_.front()->finished());
+    CHECK(submaps_.front()->insertion_finished());
     submaps_.erase(submaps_.begin());
   }
   submaps_.push_back(absl::make_unique<Submap2D>(

cartographer/mapping/2d/submap_2d_test.cc

@@ -113,7 +113,7 @@ TEST(Submap2DTest, ToFromProto) {
   EXPECT_TRUE(expected.local_pose().rotation().isApprox(
       actual.local_pose().rotation(), 1e-6));
   EXPECT_EQ(expected.num_range_data(), actual.num_range_data());
-  EXPECT_EQ(expected.finished(), actual.finished());
+  EXPECT_EQ(expected.insertion_finished(), actual.insertion_finished());
   EXPECT_NEAR(expected.grid()->limits().resolution(),
               actual.grid()->limits().resolution(), 1e-6);
   EXPECT_TRUE(expected.grid()->limits().max().isApprox(

cartographer/mapping/3d/submap_3d.cc

@@ -214,7 +214,7 @@ proto::Submap Submap3D::ToProto(
   auto* const submap_3d = proto.mutable_submap_3d();
   *submap_3d->mutable_local_pose() = transform::ToProto(local_pose());
   submap_3d->set_num_range_data(num_range_data());
-  submap_3d->set_finished(finished());
+  submap_3d->set_finished(insertion_finished());
   if (include_probability_grid_data) {
     *submap_3d->mutable_high_resolution_hybrid_grid() =
         high_resolution_hybrid_grid().ToProto();
@@ -231,7 +231,7 @@ void Submap3D::UpdateFromProto(const proto::Submap& proto) {
 
 void Submap3D::UpdateFromProto(const proto::Submap3D& submap_3d) {
   set_num_range_data(submap_3d.num_range_data());
-  set_finished(submap_3d.finished());
+  set_insertion_finished(submap_3d.finished());
   if (submap_3d.has_high_resolution_hybrid_grid()) {
     high_resolution_hybrid_grid_ =
         absl::make_unique<HybridGrid>(submap_3d.high_resolution_hybrid_grid());
@@ -256,7 +256,7 @@ void Submap3D::ToResponseProto(
 void Submap3D::InsertRangeData(const sensor::RangeData& range_data,
                                const RangeDataInserter3D& range_data_inserter,
                                const float high_resolution_max_range) {
-  CHECK(!finished());
+  CHECK(!insertion_finished());
   const sensor::RangeData transformed_range_data = sensor::TransformRangeData(
       range_data, local_pose().inverse().cast<float>());
   range_data_inserter.Insert(
@@ -269,8 +269,8 @@ void Submap3D::InsertRangeData(const sensor::RangeData& range_data,
 }
 
 void Submap3D::Finish() {
-  CHECK(!finished());
+  CHECK(!insertion_finished());
-  set_finished(true);
+  set_insertion_finished(true);
 }
 
 ActiveSubmaps3D::ActiveSubmaps3D(const proto::SubmapsOptions3D& options)
@@ -304,7 +304,7 @@ void ActiveSubmaps3D::AddSubmap(const transform::Rigid3d& local_submap_pose) {
   if (submaps_.size() >= 2) {
     // This will crop the finished Submap before inserting a new Submap to
     // reduce peak memory usage a bit.
-    CHECK(submaps_.front()->finished());
+    CHECK(submaps_.front()->insertion_finished());
     submaps_.erase(submaps_.begin());
   }
   submaps_.emplace_back(new Submap3D(options_.high_resolution(),

cartographer/mapping/3d/submap_3d_test.cc

@@ -38,7 +38,7 @@ TEST(SubmapsTest, ToFromProto) {
   EXPECT_TRUE(expected.local_pose().rotation().isApprox(
       actual.local_pose().rotation(), 1e-6));
   EXPECT_EQ(expected.num_range_data(), actual.num_range_data());
-  EXPECT_EQ(expected.finished(), actual.finished());
+  EXPECT_EQ(expected.insertion_finished(), actual.insertion_finished());
   EXPECT_NEAR(expected.high_resolution_hybrid_grid().resolution(), 0.05, 1e-6);
   EXPECT_NEAR(expected.low_resolution_hybrid_grid().resolution(), 0.25, 1e-6);
 }

cartographer/mapping/internal/2d/overlapping_submaps_trimmer_2d.cc

@@ -60,7 +60,7 @@ std::set<SubmapId> AddSubmapsToSubmapCoverageGrid2D(
   for (const auto& submap : submap_data) {
     auto freshness = submap_freshness.find(submap.id);
     if (freshness == submap_freshness.end()) continue;
-    if (!submap.data.submap->finished()) continue;
+    if (!submap.data.submap->insertion_finished()) continue;
     all_submap_ids.insert(submap.id);
     const Grid2D& grid =
         *std::static_pointer_cast<const Submap2D>(submap.data.submap)->grid();

cartographer/mapping/internal/2d/pose_graph_2d.cc

@@ -146,7 +146,8 @@ NodeId PoseGraph2D::AddNode(
                                     insertion_submaps, optimized_pose);
   // We have to check this here, because it might have changed by the time we
   // execute the lambda.
-  const bool newly_finished_submap = insertion_submaps.front()->finished();
+  const bool newly_finished_submap =
+      insertion_submaps.front()->insertion_finished();
   AddWorkItem([=]() LOCKS_EXCLUDED(mutex_) {
     return ComputeConstraintsForNode(node_id, insertion_submaps,
                                      newly_finished_submap);
@@ -242,7 +243,7 @@ void PoseGraph2D::ComputeConstraint(const NodeId& node_id,
   {
     absl::MutexLock locker(&mutex_);
     CHECK(data_.submap_data.at(submap_id).state == SubmapState::kFinished);
-    if (!data_.submap_data.at(submap_id).submap->finished()) {
+    if (!data_.submap_data.at(submap_id).submap->insertion_finished()) {
       // Uplink server only receives grids when they are finished, so skip
       // constraint search before that.
       return;
@@ -316,7 +317,8 @@ WorkItem::Result PoseGraph2D::ComputeConstraintsForNode(
       const SubmapId submap_id = submap_ids[i];
       // Even if this was the last node added to 'submap_id', the submap will
       // only be marked as finished in 'data_.submap_data' further below.
-      CHECK(data_.submap_data.at(submap_id).state == SubmapState::kActive);
+      CHECK(data_.submap_data.at(submap_id).state ==
+            SubmapState::kNoConstraintSearch);
       data_.submap_data.at(submap_id).node_ids.emplace(node_id);
       const transform::Rigid2d constraint_transform =
           constraints::ComputeSubmapPose(*insertion_submaps[i]).inverse() *
@@ -344,7 +346,7 @@ WorkItem::Result PoseGraph2D::ComputeConstraintsForNode(
       const SubmapId newly_finished_submap_id = submap_ids.front();
       InternalSubmapData& finished_submap_data =
           data_.submap_data.at(newly_finished_submap_id);
-      CHECK(finished_submap_data.state == SubmapState::kActive);
+      CHECK(finished_submap_data.state == SubmapState::kNoConstraintSearch);
       finished_submap_data.state = SubmapState::kFinished;
       newly_finished_submap_node_ids = finished_submap_data.node_ids;
     }

cartographer/mapping/internal/3d/pose_graph_3d.cc

@@ -143,7 +143,8 @@ NodeId PoseGraph3D::AddNode(
                                     insertion_submaps, optimized_pose);
   // We have to check this here, because it might have changed by the time we
   // execute the lambda.
-  const bool newly_finished_submap = insertion_submaps.front()->finished();
+  const bool newly_finished_submap =
+      insertion_submaps.front()->insertion_finished();
   AddWorkItem([=]() LOCKS_EXCLUDED(mutex_) {
     return ComputeConstraintsForNode(node_id, insertion_submaps,
                                      newly_finished_submap);
@@ -256,7 +257,7 @@ void PoseGraph3D::ComputeConstraint(const NodeId& node_id,
   {
     absl::MutexLock locker(&mutex_);
     CHECK(data_.submap_data.at(submap_id).state == SubmapState::kFinished);
-    if (!data_.submap_data.at(submap_id).submap->finished()) {
+    if (!data_.submap_data.at(submap_id).submap->insertion_finished()) {
       // Uplink server only receives grids when they are finished, so skip
       // constraint search before that.
       return;
@@ -334,7 +335,8 @@ WorkItem::Result PoseGraph3D::ComputeConstraintsForNode(
       const SubmapId submap_id = submap_ids[i];
       // Even if this was the last node added to 'submap_id', the submap will
       // only be marked as finished in 'data_.submap_data' further below.
-      CHECK(data_.submap_data.at(submap_id).state == SubmapState::kActive);
+      CHECK(data_.submap_data.at(submap_id).state ==
+            SubmapState::kNoConstraintSearch);
       data_.submap_data.at(submap_id).node_ids.emplace(node_id);
       const transform::Rigid3d constraint_transform =
           insertion_submaps[i]->local_pose().inverse() * local_pose;
@@ -359,7 +361,7 @@ WorkItem::Result PoseGraph3D::ComputeConstraintsForNode(
       const SubmapId newly_finished_submap_id = submap_ids.front();
       InternalSubmapData& finished_submap_data =
           data_.submap_data.at(newly_finished_submap_id);
-      CHECK(finished_submap_data.state == SubmapState::kActive);
+      CHECK(finished_submap_data.state == SubmapState::kNoConstraintSearch);
       finished_submap_data.state = SubmapState::kFinished;
       newly_finished_submap_node_ids = finished_submap_data.node_ids;
     }

cartographer/mapping/internal/submap_controller.h

@@ -47,7 +47,7 @@ class SubmapController {
 
     // If the submap was just finished by the recent update, remove it from
     // the list of unfinished submaps.
-    if (submap_ptr->finished()) {
+    if (submap_ptr->insertion_finished()) {
       unfinished_submaps_.Trim(submap_id);
     } else {
       // If the submap is unfinished set the 'num_range_data' to 0 since we

cartographer/mapping/pose_graph.cc

@@ -134,7 +134,7 @@ proto::PoseGraph PoseGraph::ToProto(bool include_unfinished_submaps) const {
     proto::Trajectory* trajectory_proto =
         trajectory(submap_id_data.id.trajectory_id);
     if (!include_unfinished_submaps &&
-        !submap_id_data.data.submap->finished()) {
+        !submap_id_data.data.submap->insertion_finished()) {
       // Collect IDs of all unfinished submaps and skip them.
       unfinished_submaps.insert(submap_id_data.id);
       continue;

cartographer/mapping/pose_graph_data.h

@@ -31,10 +31,11 @@
 namespace cartographer {
 namespace mapping {
 
-// The current state of the submap in the background threads. When this
+// The current state of the submap in the background threads. After this
-// transitions to kFinished, all nodes are tried to match against this submap.
+// transitions to 'kFinished', all nodes are tried to match
-// Likewise, all new nodes are matched against submaps which are finished.
+// against this submap. Likewise, all new nodes are matched against submaps in
-enum class SubmapState { kActive, kFinished };
+// that state.
+enum class SubmapState { kNoConstraintSearch, kFinished };
 
 struct InternalTrajectoryState {
   enum class DeletionState {
@@ -50,11 +51,11 @@ struct InternalTrajectoryState {
 
 struct InternalSubmapData {
   std::shared_ptr<const Submap> submap;
-  SubmapState state = SubmapState::kActive;
+  SubmapState state = SubmapState::kNoConstraintSearch;
 
   // IDs of the nodes that were inserted into this map together with
   // constraints for them. They are not to be matched again when this submap
-  // becomes 'finished'.
+  // becomes 'kFinished'.
   std::set<NodeId> node_ids;
 };
 

cartographer/mapping/submaps.h

@@ -53,9 +53,9 @@ inline uint8 ProbabilityToLogOddsInteger(const float probability) {
 }
 
 // An individual submap, which has a 'local_pose' in the local map frame, keeps
-// track of how many range data were inserted into it, and sets the
+// track of how many range data were inserted into it, and sets
-// 'finished_probability_grid' to be used for loop closing once the map no
+// 'insertion_finished' when the map no longer changes and is ready for loop
-// longer changes.
+// closing.
 class Submap {
  public:
   Submap(const transform::Rigid3d& local_submap_pose)
@@ -79,14 +79,15 @@ class Submap {
     num_range_data_ = num_range_data;
   }
 
-  // Whether the submap is finished or not.
+  bool insertion_finished() const { return insertion_finished_; }
-  bool finished() const { return finished_; }
+  void set_insertion_finished(bool insertion_finished) {
-  void set_finished(bool finished) { finished_ = finished; }
+    insertion_finished_ = insertion_finished;
+  }
 
  private:
   const transform::Rigid3d local_pose_;
   int num_range_data_ = 0;
-  bool finished_ = false;
+  bool insertion_finished_ = false;
 };
 
 }  // namespace mapping