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

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);

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.
 }

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_;