From 3215035c1cdf881e3b105872a9e1ad053981a890 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Thu, 31 Aug 2017 12:26:31 +0200
Subject: [PATCH] Add thread annotation to LogResidualHistograms(). (#492)

---
 cartographer/mapping_2d/local_trajectory_builder.cc | 4 ++--
 cartographer/mapping_3d/sparse_pose_graph.cc        | 3 +--
 cartographer/mapping_3d/sparse_pose_graph.h         | 2 +-
 3 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
index f8b8136..248e4a9 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.cc
+++ b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -82,8 +82,8 @@ void LocalTrajectoryBuilder::ScanMatch(
 }
 
 std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
-LocalTrajectoryBuilder::AddRangeData(
-    const common::Time time, const sensor::RangeData& range_data) {
+LocalTrajectoryBuilder::AddRangeData(const common::Time time,
+                                     const sensor::RangeData& range_data) {
   // Initialize extrapolator now if we do not ever use an IMU.
   if (!options_.use_imu_data()) {
     InitializeExtrapolator(time);
diff --git a/cartographer/mapping_3d/sparse_pose_graph.cc b/cartographer/mapping_3d/sparse_pose_graph.cc
index 37da179..5f07d81 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.cc
+++ b/cartographer/mapping_3d/sparse_pose_graph.cc
@@ -151,8 +151,7 @@ void SparsePoseGraph::AddImuData(const int trajectory_id,
 }
 
 void SparsePoseGraph::AddOdometerData(
-    int trajectory_id,
-    const sensor::OdometryData& odometry_data) {
+    const int trajectory_id, const sensor::OdometryData& odometry_data) {
   // TODO(cschuet): Add support for handling OdometryData in the optimization
   // problem.
 }
diff --git a/cartographer/mapping_3d/sparse_pose_graph.h b/cartographer/mapping_3d/sparse_pose_graph.h
index 0d3b2d1..a128c8f 100644
--- a/cartographer/mapping_3d/sparse_pose_graph.h
+++ b/cartographer/mapping_3d/sparse_pose_graph.h
@@ -166,7 +166,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
 
   // Logs histograms for the translational and rotational residual of scan
   // poses.
-  void LogResidualHistograms();
+  void LogResidualHistograms() REQUIRES(mutex_);
 
   const mapping::proto::SparsePoseGraphOptions options_;
   common::Mutex mutex_;