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Add thread annotation to LogResidualHistograms(). (#492)

master
Wolfgang Hess 2017-08-31 12:26:31 +02:00 committed by GitHub
parent b54ca0cca6
commit 3215035c1c
3 changed files with 4 additions and 5 deletions
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4
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -82,8 +82,8 @@ void LocalTrajectoryBuilder::ScanMatch(
} }
std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
LocalTrajectoryBuilder::AddRangeData( LocalTrajectoryBuilder::AddRangeData(const common::Time time,
const common::Time time, const sensor::RangeData& range_data) { const sensor::RangeData& range_data) {
// Initialize extrapolator now if we do not ever use an IMU. // Initialize extrapolator now if we do not ever use an IMU.
if (!options_.use_imu_data()) { if (!options_.use_imu_data()) {
InitializeExtrapolator(time); InitializeExtrapolator(time);

3
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -151,8 +151,7 @@ void SparsePoseGraph::AddImuData(const int trajectory_id,
} }
void SparsePoseGraph::AddOdometerData( void SparsePoseGraph::AddOdometerData(
int trajectory_id, const int trajectory_id, const sensor::OdometryData& odometry_data) {
const sensor::OdometryData& odometry_data) {
// TODO(cschuet): Add support for handling OdometryData in the optimization // TODO(cschuet): Add support for handling OdometryData in the optimization
// problem. // problem.
} }

2
cartographer/mapping_3d/sparse_pose_graph.h
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@ -166,7 +166,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
// Logs histograms for the translational and rotational residual of scan // Logs histograms for the translational and rotational residual of scan
// poses. // poses.
void LogResidualHistograms(); void LogResidualHistograms() REQUIRES(mutex_);
const mapping::proto::SparsePoseGraphOptions options_; const mapping::proto::SparsePoseGraphOptions options_;
common::Mutex mutex_; common::Mutex mutex_;