From 38dcf65d8fd586249fce5a2aeed8dde45d54f91a Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Wed, 4 Nov 2020 16:35:02 +0100 Subject: [PATCH] Clean up the public headers in `common`. (#1775) In common, BlockingQueue and RateTimer are not used in any public API and are made internal. `common/utils.h` is unused code and removed. Signed-off-by: Wolfgang Hess --- .../internal/local_trajectory_uploader.cc | 2 +- .../internal/map_builder_context_interface.h | 2 +- .../cloud/internal/map_builder_server.h | 2 +- .../common/{ => internal}/blocking_queue.h | 0 .../{ => internal}/blocking_queue_test.cc | 2 +- .../common/{ => internal}/rate_timer.h | 0 .../common/{ => internal}/rate_timer_test.cc | 2 +- cartographer/common/utils.h | 34 ------------------- .../internal/collated_trajectory_builder.h | 2 +- .../sensor/internal/ordered_multi_queue.h | 2 +- 10 files changed, 7 insertions(+), 41 deletions(-) rename cartographer/common/{ => internal}/blocking_queue.h (100%) rename cartographer/common/{ => internal}/blocking_queue_test.cc (98%) rename cartographer/common/{ => internal}/rate_timer.h (100%) rename cartographer/common/{ => internal}/rate_timer_test.cc (97%) delete mode 100644 cartographer/common/utils.h diff --git a/cartographer/cloud/internal/local_trajectory_uploader.cc b/cartographer/cloud/internal/local_trajectory_uploader.cc index 4a0dc69..3f5a160 100644 --- a/cartographer/cloud/internal/local_trajectory_uploader.cc +++ b/cartographer/cloud/internal/local_trajectory_uploader.cc @@ -25,7 +25,7 @@ #include "cartographer/cloud/internal/handlers/add_trajectory_handler.h" #include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h" #include "cartographer/cloud/internal/sensor/serialization.h" -#include "cartographer/common/blocking_queue.h" +#include "cartographer/common/internal/blocking_queue.h" #include "glog/logging.h" #include "grpc++/grpc++.h" diff --git a/cartographer/cloud/internal/map_builder_context_interface.h b/cartographer/cloud/internal/map_builder_context_interface.h index ee6fe2d..bbcd111 100644 --- a/cartographer/cloud/internal/map_builder_context_interface.h +++ b/cartographer/cloud/internal/map_builder_context_interface.h @@ -19,7 +19,7 @@ #include "async_grpc/execution_context.h" #include "cartographer/cloud/internal/local_trajectory_uploader.h" -#include "cartographer/common/blocking_queue.h" +#include "cartographer/common/internal/blocking_queue.h" #include "cartographer/mapping/map_builder_interface.h" #include "cartographer/mapping/pose_graph_interface.h" #include "cartographer/mapping/proto/serialization.pb.h" diff --git a/cartographer/cloud/internal/map_builder_server.h b/cartographer/cloud/internal/map_builder_server.h index 83c7e3c..279dd2f 100644 --- a/cartographer/cloud/internal/map_builder_server.h +++ b/cartographer/cloud/internal/map_builder_server.h @@ -23,7 +23,7 @@ #include "cartographer/cloud/internal/map_builder_context_interface.h" #include "cartographer/cloud/map_builder_server_interface.h" #include "cartographer/cloud/proto/map_builder_server_options.pb.h" -#include "cartographer/common/blocking_queue.h" +#include "cartographer/common/internal/blocking_queue.h" #include "cartographer/common/time.h" #include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/3d/submap_3d.h" diff --git a/cartographer/common/blocking_queue.h b/cartographer/common/internal/blocking_queue.h similarity index 100% rename from cartographer/common/blocking_queue.h rename to cartographer/common/internal/blocking_queue.h diff --git a/cartographer/common/blocking_queue_test.cc b/cartographer/common/internal/blocking_queue_test.cc similarity index 98% rename from cartographer/common/blocking_queue_test.cc rename to cartographer/common/internal/blocking_queue_test.cc index b6f019f..47f961e 100644 --- a/cartographer/common/blocking_queue_test.cc +++ b/cartographer/common/internal/blocking_queue_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/common/blocking_queue.h" +#include "cartographer/common/internal/blocking_queue.h" #include #include diff --git a/cartographer/common/rate_timer.h b/cartographer/common/internal/rate_timer.h similarity index 100% rename from cartographer/common/rate_timer.h rename to cartographer/common/internal/rate_timer.h diff --git a/cartographer/common/rate_timer_test.cc b/cartographer/common/internal/rate_timer_test.cc similarity index 97% rename from cartographer/common/rate_timer_test.cc rename to cartographer/common/internal/rate_timer_test.cc index 9bf3c75..8c73bdd 100644 --- a/cartographer/common/rate_timer_test.cc +++ b/cartographer/common/internal/rate_timer_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/common/rate_timer.h" +#include "cartographer/common/internal/rate_timer.h" #include "gtest/gtest.h" diff --git a/cartographer/common/utils.h b/cartographer/common/utils.h deleted file mode 100644 index 229ad69..0000000 --- a/cartographer/common/utils.h +++ /dev/null @@ -1,34 +0,0 @@ -/* - * Copyright 2018 The Cartographer Authors - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef CARTOGRAPHER_COMMON_UTILS_H_ -#define CARTOGRAPHER_COMMON_UTILS_H_ - -namespace cartographer { -namespace common { - -template -ValueType* FindOrNull(MapType& map, const KeyType& key) { - auto it = map.find(key); - if (it == map.end()) return nullptr; - return &(it->second); -} - -} // namespace common -} // namespace cartographer - -#endif // CARTOGRAPHER_COMMON_UTILS_H_ diff --git a/cartographer/mapping/internal/collated_trajectory_builder.h b/cartographer/mapping/internal/collated_trajectory_builder.h index c999edf..e9e39ff 100644 --- a/cartographer/mapping/internal/collated_trajectory_builder.h +++ b/cartographer/mapping/internal/collated_trajectory_builder.h @@ -23,8 +23,8 @@ #include #include +#include "cartographer/common/internal/rate_timer.h" #include "cartographer/common/port.h" -#include "cartographer/common/rate_timer.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/submaps.h" #include "cartographer/mapping/trajectory_builder_interface.h" diff --git a/cartographer/sensor/internal/ordered_multi_queue.h b/cartographer/sensor/internal/ordered_multi_queue.h index 36f17e3..d484986 100644 --- a/cartographer/sensor/internal/ordered_multi_queue.h +++ b/cartographer/sensor/internal/ordered_multi_queue.h @@ -23,7 +23,7 @@ #include #include -#include "cartographer/common/blocking_queue.h" +#include "cartographer/common/internal/blocking_queue.h" #include "cartographer/common/port.h" #include "cartographer/common/time.h" #include "cartographer/sensor/internal/dispatchable.h"