From 3ebfa757efd2a23d50fb6c7e6890753a3e73d44c Mon Sep 17 00:00:00 2001 From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com> Date: Mon, 26 Feb 2018 17:40:29 +0100 Subject: [PATCH] Move mapping_*d to mapping/*d. (#935) [Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md) --- .../2d}/local_trajectory_builder_2d.cc | 2 +- .../2d}/local_trajectory_builder_2d.h | 8 ++++---- .../occupied_space_cost_function_2d.h | 2 +- .../3d}/acceleration_cost_function_3d.h | 0 .../3d}/local_trajectory_builder_3d.cc | 10 +++++----- .../3d}/local_trajectory_builder_3d.h | 8 ++++---- .../3d}/local_trajectory_builder_3d_test.cc | 6 +++--- .../3d}/rotation_cost_function_3d.h | 0 .../occupied_space_cost_function_3d.h | 4 ++-- .../internal/mapping/global_trajectory_builder.h | 8 ++++---- cartographer/io/hybrid_grid_points_processor.cc | 4 ++-- cartographer/io/hybrid_grid_points_processor.h | 6 +++--- .../io/outlier_removing_points_processor.h | 2 +- .../io/probability_grid_points_processor.h | 6 +++--- cartographer/io/submap_painter.cc | 4 ++-- cartographer/io/xray_points_processor.cc | 2 +- cartographer/io/xray_points_processor.h | 2 +- .../2d}/local_trajectory_builder_options_2d.cc | 8 ++++---- .../2d}/local_trajectory_builder_options_2d.h | 2 +- .../{mapping_2d => mapping/2d}/map_limits.h | 4 ++-- .../{mapping_2d => mapping/2d}/map_limits_test.cc | 2 +- .../2d}/pose_graph/constraint_builder_2d.cc | 12 ++++++------ .../2d}/pose_graph/constraint_builder_2d.h | 6 +++--- .../2d}/pose_graph/landmark_cost_function_2d.h | 2 +- .../pose_graph/landmark_cost_function_2d_test.cc | 2 +- .../2d}/pose_graph/optimization_problem_2d.cc | 6 +++--- .../2d}/pose_graph/optimization_problem_2d.h | 0 .../2d}/pose_graph/spa_cost_function_2d.h | 0 .../{mapping_2d => mapping/2d}/pose_graph_2d.cc | 2 +- .../{mapping_2d => mapping/2d}/pose_graph_2d.h | 6 +++--- .../2d}/pose_graph_2d_test.cc | 6 +++--- .../{mapping_2d => mapping/2d}/probability_grid.cc | 2 +- .../{mapping_2d => mapping/2d}/probability_grid.h | 6 +++--- .../2d}/probability_grid_test.cc | 2 +- .../2d}/proto/cell_limits.proto | 0 .../local_trajectory_builder_options_2d.proto | 4 ++-- .../2d}/proto/map_limits.proto | 2 +- .../2d}/proto/probability_grid.proto | 2 +- .../2d}/proto/range_data_inserter_options_2d.proto | 0 .../2d}/proto/submaps_options_2d.proto | 2 +- .../2d}/range_data_inserter_2d.cc | 6 +++--- .../2d}/range_data_inserter_2d.h | 6 +++--- .../2d}/range_data_inserter_2d_test.cc | 4 ++-- .../{mapping_2d => mapping/2d}/ray_casting.cc | 2 +- .../{mapping_2d => mapping/2d}/ray_casting.h | 2 +- .../2d}/scan_matching/ceres_scan_matcher_2d.cc | 10 +++++----- .../2d}/scan_matching/ceres_scan_matcher_2d.h | 4 ++-- .../scan_matching/ceres_scan_matcher_2d_test.cc | 4 ++-- .../scan_matching/correlative_scan_matcher_2d.cc | 2 +- .../scan_matching/correlative_scan_matcher_2d.h | 4 ++-- .../scan_matching/correlative_scan_matcher_test.cc | 2 +- .../fast_correlative_scan_matcher_2d.cc | 4 ++-- .../fast_correlative_scan_matcher_2d.h | 6 +++--- .../fast_correlative_scan_matcher_2d_test.cc | 6 +++--- .../2d}/scan_matching/fast_global_localizer.cc | 2 +- .../2d}/scan_matching/fast_global_localizer.h | 2 +- .../proto/ceres_scan_matcher_options_2d.proto | 0 .../fast_correlative_scan_matcher_options_2d.proto | 0 .../real_time_correlative_scan_matcher_2d.cc | 4 ++-- .../real_time_correlative_scan_matcher_2d.h | 4 ++-- .../real_time_correlative_scan_matcher_2d_test.cc | 6 +++--- .../scan_matching/rotation_delta_cost_functor_2d.h | 0 .../translation_delta_cost_functor_2d.h | 0 .../{mapping_2d => mapping/2d}/submap_2d.cc | 2 +- .../{mapping_2d => mapping/2d}/submap_2d.h | 8 ++++---- .../{mapping_2d => mapping/2d}/submap_2d_test.cc | 2 +- cartographer/{mapping_2d => mapping/2d}/xy_index.h | 2 +- .../{mapping_2d => mapping/2d}/xy_index_test.cc | 2 +- .../{mapping_3d => mapping/3d}/hybrid_grid.h | 2 +- .../{mapping_3d => mapping/3d}/hybrid_grid_test.cc | 2 +- .../{mapping_3d => mapping/3d}/imu_integration.h | 0 .../3d}/local_trajectory_builder_options_3d.cc | 6 +++--- .../3d}/local_trajectory_builder_options_3d.h | 2 +- .../3d}/pose_graph/constraint_builder_3d.cc | 12 ++++++------ .../3d}/pose_graph/constraint_builder_3d.h | 6 +++--- .../3d}/pose_graph/landmark_cost_function_3d.h | 2 +- .../pose_graph/landmark_cost_function_3d_test.cc | 2 +- .../3d}/pose_graph/optimization_problem_3d.cc | 14 +++++++------- .../3d}/pose_graph/optimization_problem_3d.h | 0 .../3d}/pose_graph/optimization_problem_3d_test.cc | 2 +- .../3d}/pose_graph/spa_cost_function_3d.h | 0 .../{mapping_3d => mapping/3d}/pose_graph_3d.cc | 2 +- .../{mapping_3d => mapping/3d}/pose_graph_3d.h | 6 +++--- .../3d}/proto/hybrid_grid.proto | 0 .../local_trajectory_builder_options_3d.proto | 4 ++-- .../3d}/proto/range_data_inserter_options_3d.proto | 0 .../3d}/proto/submaps_options_3d.proto | 2 +- .../3d}/range_data_inserter_3d.cc | 2 +- .../3d}/range_data_inserter_3d.h | 4 ++-- .../3d}/range_data_inserter_3d_test.cc | 2 +- .../3d}/rotation_parameterization.h | 0 .../3d}/scan_matching/ceres_scan_matcher_3d.cc | 10 +++++----- .../3d}/scan_matching/ceres_scan_matcher_3d.h | 4 ++-- .../scan_matching/ceres_scan_matcher_3d_test.cc | 4 ++-- .../fast_correlative_scan_matcher_3d.cc | 8 ++++---- .../fast_correlative_scan_matcher_3d.h | 8 ++++---- .../fast_correlative_scan_matcher_3d_test.cc | 4 ++-- .../3d}/scan_matching/interpolated_grid.h | 2 +- .../3d}/scan_matching/interpolated_grid_test.cc | 4 ++-- .../3d}/scan_matching/low_resolution_matcher.cc | 2 +- .../3d}/scan_matching/low_resolution_matcher.h | 2 +- .../3d}/scan_matching/precomputation_grid_3d.cc | 2 +- .../3d}/scan_matching/precomputation_grid_3d.h | 2 +- .../scan_matching/precomputation_grid_3d_test.cc | 4 ++-- .../proto/ceres_scan_matcher_options_3d.proto | 0 .../fast_correlative_scan_matcher_options_3d.proto | 0 .../real_time_correlative_scan_matcher_3d.cc | 2 +- .../real_time_correlative_scan_matcher_3d.h | 2 +- .../real_time_correlative_scan_matcher_3d_test.cc | 6 +++--- .../scan_matching/rotation_delta_cost_functor_3d.h | 0 .../rotation_delta_cost_functor_3d_test.cc | 2 +- .../3d}/scan_matching/rotational_scan_matcher.cc | 2 +- .../3d}/scan_matching/rotational_scan_matcher.h | 0 .../scan_matching/rotational_scan_matcher_test.cc | 2 +- .../translation_delta_cost_functor_3d.h | 0 .../{mapping_3d => mapping/3d}/submap_3d.cc | 2 +- .../{mapping_3d => mapping/3d}/submap_3d.h | 6 +++--- .../{mapping_3d => mapping/3d}/submap_3d_test.cc | 2 +- cartographer/mapping/local_slam_result_data.h | 4 ++-- cartographer/mapping/map_builder.cc | 4 ++-- cartographer/mapping/map_builder.h | 4 ++-- .../mapping/pose_graph/constraint_builder.cc | 8 ++++---- .../proto/constraint_builder_options.proto | 8 ++++---- cartographer/mapping/proto/submap.proto | 4 ++-- .../mapping/proto/trajectory_builder_options.proto | 4 ++-- cartographer/mapping/submaps.h | 2 +- .../mapping/trajectory_builder_interface.cc | 4 ++-- cartographer/metrics/register.cc | 4 ++-- cartographer/sensor/compressed_point_cloud.cc | 2 +- cartographer/sensor/voxel_filter.h | 2 +- cartographer_grpc/map_builder_context.h | 4 ++-- 131 files changed, 228 insertions(+), 228 deletions(-) rename cartographer/internal/{mapping_2d => mapping/2d}/local_trajectory_builder_2d.cc (99%) rename cartographer/internal/{mapping_2d => mapping/2d}/local_trajectory_builder_2d.h (94%) rename cartographer/internal/{mapping_2d => mapping/2d}/scan_matching/occupied_space_cost_function_2d.h (98%) rename cartographer/internal/{mapping_3d => mapping/3d}/acceleration_cost_function_3d.h (100%) rename cartographer/internal/{mapping_3d => mapping/3d}/local_trajectory_builder_3d.cc (97%) rename cartographer/internal/{mapping_3d => mapping/3d}/local_trajectory_builder_3d.h (94%) rename cartographer/internal/{mapping_3d => mapping/3d}/local_trajectory_builder_3d_test.cc (98%) rename cartographer/internal/{mapping_3d => mapping/3d}/rotation_cost_function_3d.h (100%) rename cartographer/internal/{mapping_3d => mapping/3d}/scan_matching/occupied_space_cost_function_3d.h (96%) rename cartographer/{mapping_2d => mapping/2d}/local_trajectory_builder_options_2d.cc (92%) rename cartographer/{mapping_2d => mapping/2d}/local_trajectory_builder_options_2d.h (94%) rename cartographer/{mapping_2d => mapping/2d}/map_limits.h (97%) rename cartographer/{mapping_2d => mapping/2d}/map_limits_test.cc (97%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/constraint_builder_2d.cc (97%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/constraint_builder_2d.h (97%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/landmark_cost_function_2d.h (98%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/landmark_cost_function_2d_test.cc (97%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/optimization_problem_2d.cc (98%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/optimization_problem_2d.h (100%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph/spa_cost_function_2d.h (100%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph_2d.cc (99%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph_2d.h (98%) rename cartographer/{mapping_2d => mapping/2d}/pose_graph_2d_test.cc (98%) rename cartographer/{mapping_2d => mapping/2d}/probability_grid.cc (99%) rename cartographer/{mapping_2d => mapping/2d}/probability_grid.h (95%) rename cartographer/{mapping_2d => mapping/2d}/probability_grid_test.cc (99%) rename cartographer/{mapping_2d => mapping/2d}/proto/cell_limits.proto (100%) rename cartographer/{mapping_2d => mapping/2d}/proto/local_trajectory_builder_options_2d.proto (95%) rename cartographer/{mapping_2d => mapping/2d}/proto/map_limits.proto (93%) rename cartographer/{mapping_2d => mapping/2d}/proto/probability_grid.proto (94%) rename cartographer/{mapping_2d => mapping/2d}/proto/range_data_inserter_options_2d.proto (100%) rename cartographer/{mapping_2d => mapping/2d}/proto/submaps_options_2d.proto (94%) rename cartographer/{mapping_2d => mapping/2d}/range_data_inserter_2d.cc (93%) rename cartographer/{mapping_2d => mapping/2d}/range_data_inserter_2d.h (91%) rename cartographer/{mapping_2d => mapping/2d}/range_data_inserter_2d_test.cc (97%) rename cartographer/{mapping_2d => mapping/2d}/ray_casting.cc (99%) rename cartographer/{mapping_2d => mapping/2d}/ray_casting.h (96%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/ceres_scan_matcher_2d.cc (92%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/ceres_scan_matcher_2d.h (95%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/ceres_scan_matcher_2d_test.cc (96%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/correlative_scan_matcher_2d.cc (98%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/correlative_scan_matcher_2d.h (97%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/correlative_scan_matcher_test.cc (98%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/fast_correlative_scan_matcher_2d.cc (99%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/fast_correlative_scan_matcher_2d.h (97%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/fast_correlative_scan_matcher_2d_test.cc (98%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/fast_global_localizer.cc (96%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/fast_global_localizer.h (96%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/proto/ceres_scan_matcher_options_2d.proto (100%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto (100%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/real_time_correlative_scan_matcher_2d.cc (97%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/real_time_correlative_scan_matcher_2d.h (96%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/real_time_correlative_scan_matcher_2d_test.cc (96%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/rotation_delta_cost_functor_2d.h (100%) rename cartographer/{mapping_2d => mapping/2d}/scan_matching/translation_delta_cost_functor_2d.h (100%) rename cartographer/{mapping_2d => mapping/2d}/submap_2d.cc (99%) rename cartographer/{mapping_2d => mapping/2d}/submap_2d.h (94%) rename cartographer/{mapping_2d => mapping/2d}/submap_2d_test.cc (98%) rename cartographer/{mapping_2d => mapping/2d}/xy_index.h (98%) rename cartographer/{mapping_2d => mapping/2d}/xy_index_test.cc (97%) rename cartographer/{mapping_3d => mapping/3d}/hybrid_grid.h (99%) rename cartographer/{mapping_3d => mapping/3d}/hybrid_grid_test.cc (99%) rename cartographer/{mapping_3d => mapping/3d}/imu_integration.h (100%) rename cartographer/{mapping_3d => mapping/3d}/local_trajectory_builder_options_3d.cc (94%) rename cartographer/{mapping_3d => mapping/3d}/local_trajectory_builder_options_3d.h (94%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/constraint_builder_3d.cc (97%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/constraint_builder_3d.h (97%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/landmark_cost_function_3d.h (98%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/landmark_cost_function_3d_test.cc (97%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/optimization_problem_3d.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/optimization_problem_3d.h (100%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/optimization_problem_3d_test.cc (99%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph/spa_cost_function_3d.h (100%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph_3d.cc (99%) rename cartographer/{mapping_3d => mapping/3d}/pose_graph_3d.h (98%) rename cartographer/{mapping_3d => mapping/3d}/proto/hybrid_grid.proto (100%) rename cartographer/{mapping_3d => mapping/3d}/proto/local_trajectory_builder_options_3d.proto (95%) rename cartographer/{mapping_3d => mapping/3d}/proto/range_data_inserter_options_3d.proto (100%) rename cartographer/{mapping_3d => mapping/3d}/proto/submaps_options_3d.proto (95%) rename cartographer/{mapping_3d => mapping/3d}/range_data_inserter_3d.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/range_data_inserter_3d.h (93%) rename cartographer/{mapping_3d => mapping/3d}/range_data_inserter_3d_test.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/rotation_parameterization.h (100%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/ceres_scan_matcher_3d.cc (93%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/ceres_scan_matcher_3d.h (95%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/ceres_scan_matcher_3d_test.cc (97%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/fast_correlative_scan_matcher_3d.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/fast_correlative_scan_matcher_3d.h (96%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/fast_correlative_scan_matcher_3d_test.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/interpolated_grid.h (99%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/interpolated_grid_test.cc (96%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/low_resolution_matcher.cc (95%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/low_resolution_matcher.h (96%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/precomputation_grid_3d.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/precomputation_grid_3d.h (97%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/precomputation_grid_3d_test.cc (96%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/proto/ceres_scan_matcher_options_3d.proto (100%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto (100%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/real_time_correlative_scan_matcher_3d.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/real_time_correlative_scan_matcher_3d.h (98%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/real_time_correlative_scan_matcher_3d_test.cc (95%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/rotation_delta_cost_functor_3d.h (100%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/rotation_delta_cost_functor_3d_test.cc (98%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/rotational_scan_matcher.cc (99%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/rotational_scan_matcher.h (100%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/rotational_scan_matcher_test.cc (97%) rename cartographer/{mapping_3d => mapping/3d}/scan_matching/translation_delta_cost_functor_3d.h (100%) rename cartographer/{mapping_3d => mapping/3d}/submap_3d.cc (99%) rename cartographer/{mapping_3d => mapping/3d}/submap_3d.h (95%) rename cartographer/{mapping_3d => mapping/3d}/submap_3d_test.cc (97%) diff --git a/cartographer/internal/mapping_2d/local_trajectory_builder_2d.cc b/cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc similarity index 99% rename from cartographer/internal/mapping_2d/local_trajectory_builder_2d.cc rename to cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc index a04782b..6860e47 100644 --- a/cartographer/internal/mapping_2d/local_trajectory_builder_2d.cc +++ b/cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/internal/mapping_2d/local_trajectory_builder_2d.h" +#include "cartographer/internal/mapping/2d/local_trajectory_builder_2d.h" #include #include diff --git a/cartographer/internal/mapping_2d/local_trajectory_builder_2d.h b/cartographer/internal/mapping/2d/local_trajectory_builder_2d.h similarity index 94% rename from cartographer/internal/mapping_2d/local_trajectory_builder_2d.h rename to cartographer/internal/mapping/2d/local_trajectory_builder_2d.h index 2f9c61f..2af72ec 100644 --- a/cartographer/internal/mapping_2d/local_trajectory_builder_2d.h +++ b/cartographer/internal/mapping/2d/local_trajectory_builder_2d.h @@ -21,11 +21,11 @@ #include "cartographer/common/time.h" #include "cartographer/internal/mapping/motion_filter.h" +#include "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.pb.h" +#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/pose_extrapolator.h" -#include "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.pb.h" -#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h" -#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h" -#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/sensor/imu_data.h" #include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/range_data.h" diff --git a/cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function_2d.h b/cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h similarity index 98% rename from cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function_2d.h rename to cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h index 2a13985..0f6836b 100644 --- a/cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function_2d.h +++ b/cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h @@ -19,8 +19,8 @@ #include "Eigen/Core" #include "Eigen/Geometry" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/probability_values.h" -#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/sensor/point_cloud.h" #include "ceres/ceres.h" #include "ceres/cubic_interpolation.h" diff --git a/cartographer/internal/mapping_3d/acceleration_cost_function_3d.h b/cartographer/internal/mapping/3d/acceleration_cost_function_3d.h similarity index 100% rename from cartographer/internal/mapping_3d/acceleration_cost_function_3d.h rename to cartographer/internal/mapping/3d/acceleration_cost_function_3d.h diff --git a/cartographer/internal/mapping_3d/local_trajectory_builder_3d.cc b/cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc similarity index 97% rename from cartographer/internal/mapping_3d/local_trajectory_builder_3d.cc rename to cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc index a1bbe5f..b3e0bdb 100644 --- a/cartographer/internal/mapping_3d/local_trajectory_builder_3d.cc +++ b/cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc @@ -14,17 +14,17 @@ * limitations under the License. */ -#include "cartographer/internal/mapping_3d/local_trajectory_builder_3d.h" +#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h" #include #include "cartographer/common/make_unique.h" #include "cartographer/common/time.h" +#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h" +#include "cartographer/mapping/3d/proto/submaps_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h" #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h" -#include "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.pb.h" -#include "cartographer/mapping_3d/proto/submaps_options_3d.pb.h" -#include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h" -#include "cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer/internal/mapping_3d/local_trajectory_builder_3d.h b/cartographer/internal/mapping/3d/local_trajectory_builder_3d.h similarity index 94% rename from cartographer/internal/mapping_3d/local_trajectory_builder_3d.h rename to cartographer/internal/mapping/3d/local_trajectory_builder_3d.h index 7f2d456..11be07f 100644 --- a/cartographer/internal/mapping_3d/local_trajectory_builder_3d.h +++ b/cartographer/internal/mapping/3d/local_trajectory_builder_3d.h @@ -21,11 +21,11 @@ #include "cartographer/common/time.h" #include "cartographer/internal/mapping/motion_filter.h" +#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/pose_extrapolator.h" -#include "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.pb.h" -#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h" -#include "cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.h" -#include "cartographer/mapping_3d/submap_3d.h" #include "cartographer/sensor/imu_data.h" #include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/range_data.h" diff --git a/cartographer/internal/mapping_3d/local_trajectory_builder_3d_test.cc b/cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc similarity index 98% rename from cartographer/internal/mapping_3d/local_trajectory_builder_3d_test.cc rename to cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc index ba8bf8a..2572e86 100644 --- a/cartographer/internal/mapping_3d/local_trajectory_builder_3d_test.cc +++ b/cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/internal/mapping_3d/local_trajectory_builder_3d.h" +#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h" #include #include @@ -22,8 +22,8 @@ #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/time.h" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/local_trajectory_builder_options_3d.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform_test_helpers.h" diff --git a/cartographer/internal/mapping_3d/rotation_cost_function_3d.h b/cartographer/internal/mapping/3d/rotation_cost_function_3d.h similarity index 100% rename from cartographer/internal/mapping_3d/rotation_cost_function_3d.h rename to cartographer/internal/mapping/3d/rotation_cost_function_3d.h diff --git a/cartographer/internal/mapping_3d/scan_matching/occupied_space_cost_function_3d.h b/cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h similarity index 96% rename from cartographer/internal/mapping_3d/scan_matching/occupied_space_cost_function_3d.h rename to cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h index b32db99..52badba 100644 --- a/cartographer/internal/mapping_3d/scan_matching/occupied_space_cost_function_3d.h +++ b/cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h @@ -18,8 +18,8 @@ #define CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_ #include "Eigen/Core" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/scan_matching/interpolated_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/transform.h" diff --git a/cartographer/internal/mapping/global_trajectory_builder.h b/cartographer/internal/mapping/global_trajectory_builder.h index 8d24dd3..39b7e43 100644 --- a/cartographer/internal/mapping/global_trajectory_builder.h +++ b/cartographer/internal/mapping/global_trajectory_builder.h @@ -19,12 +19,12 @@ #include -#include "cartographer/internal/mapping_2d/local_trajectory_builder_2d.h" -#include "cartographer/internal/mapping_3d/local_trajectory_builder_3d.h" +#include "cartographer/internal/mapping/2d/local_trajectory_builder_2d.h" +#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h" +#include "cartographer/mapping/2d/pose_graph_2d.h" +#include "cartographer/mapping/3d/pose_graph_3d.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_builder_interface.h" -#include "cartographer/mapping_2d/pose_graph_2d.h" -#include "cartographer/mapping_3d/pose_graph_3d.h" namespace cartographer { namespace mapping { diff --git a/cartographer/io/hybrid_grid_points_processor.cc b/cartographer/io/hybrid_grid_points_processor.cc index 308fc5f..e998e23 100644 --- a/cartographer/io/hybrid_grid_points_processor.cc +++ b/cartographer/io/hybrid_grid_points_processor.cc @@ -8,8 +8,8 @@ #include "cartographer/io/file_writer.h" #include "cartographer/io/points_batch.h" #include "cartographer/io/points_processor.h" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/range_data_inserter_3d.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/range_data_inserter_3d.h" #include "cartographer/sensor/range_data.h" #include "glog/logging.h" diff --git a/cartographer/io/hybrid_grid_points_processor.h b/cartographer/io/hybrid_grid_points_processor.h index 451c948..1d80655 100644 --- a/cartographer/io/hybrid_grid_points_processor.h +++ b/cartographer/io/hybrid_grid_points_processor.h @@ -9,9 +9,9 @@ #include "cartographer/io/file_writer.h" #include "cartographer/io/points_batch.h" #include "cartographer/io/points_processor.h" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/proto/range_data_inserter_options_3d.pb.h" -#include "cartographer/mapping_3d/range_data_inserter_3d.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/proto/range_data_inserter_options_3d.pb.h" +#include "cartographer/mapping/3d/range_data_inserter_3d.h" namespace cartographer { namespace io { diff --git a/cartographer/io/outlier_removing_points_processor.h b/cartographer/io/outlier_removing_points_processor.h index 60ed6d7..fefc828 100644 --- a/cartographer/io/outlier_removing_points_processor.h +++ b/cartographer/io/outlier_removing_points_processor.h @@ -19,7 +19,7 @@ #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/io/points_processor.h" -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" namespace cartographer { namespace io { diff --git a/cartographer/io/probability_grid_points_processor.h b/cartographer/io/probability_grid_points_processor.h index fac51b3..3c0cd53 100644 --- a/cartographer/io/probability_grid_points_processor.h +++ b/cartographer/io/probability_grid_points_processor.h @@ -23,10 +23,10 @@ #include "cartographer/io/image.h" #include "cartographer/io/points_batch.h" #include "cartographer/io/points_processor.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include "cartographer/mapping/proto/trajectory.pb.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h" -#include "cartographer/mapping_2d/range_data_inserter_2d.h" namespace cartographer { namespace io { diff --git a/cartographer/io/submap_painter.cc b/cartographer/io/submap_painter.cc index 8feee2f..1c5855c 100644 --- a/cartographer/io/submap_painter.cc +++ b/cartographer/io/submap_painter.cc @@ -16,8 +16,8 @@ #include "cartographer/io/submap_painter.h" -#include "cartographer/mapping_2d/submap_2d.h" -#include "cartographer/mapping_3d/submap_3d.h" +#include "cartographer/mapping/2d/submap_2d.h" +#include "cartographer/mapping/3d/submap_3d.h" namespace cartographer { namespace io { diff --git a/cartographer/io/xray_points_processor.cc b/cartographer/io/xray_points_processor.cc index 08827d5..6c9b090 100644 --- a/cartographer/io/xray_points_processor.cc +++ b/cartographer/io/xray_points_processor.cc @@ -25,8 +25,8 @@ #include "cartographer/common/math.h" #include "cartographer/io/draw_trajectories.h" #include "cartographer/io/image.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/mapping/detect_floors.h" -#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/transform/transform.h" namespace cartographer { diff --git a/cartographer/io/xray_points_processor.h b/cartographer/io/xray_points_processor.h index 5029718..1d269a8 100644 --- a/cartographer/io/xray_points_processor.h +++ b/cartographer/io/xray_points_processor.h @@ -23,9 +23,9 @@ #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/io/file_writer.h" #include "cartographer/io/points_processor.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/mapping/detect_floors.h" #include "cartographer/mapping/proto/trajectory.pb.h" -#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/transform/rigid_transform.h" namespace cartographer { diff --git a/cartographer/mapping_2d/local_trajectory_builder_options_2d.cc b/cartographer/mapping/2d/local_trajectory_builder_options_2d.cc similarity index 92% rename from cartographer/mapping_2d/local_trajectory_builder_options_2d.cc rename to cartographer/mapping/2d/local_trajectory_builder_options_2d.cc index e64c7c0..6ec6f6e 100644 --- a/cartographer/mapping_2d/local_trajectory_builder_options_2d.cc +++ b/cartographer/mapping/2d/local_trajectory_builder_options_2d.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/local_trajectory_builder_options_2d.h" +#include "cartographer/mapping/2d/local_trajectory_builder_options_2d.h" #include "cartographer/internal/mapping/motion_filter.h" -#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h" -#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h" -#include "cartographer/mapping_2d/submap_2d.h" +#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/sensor/voxel_filter.h" namespace cartographer { diff --git a/cartographer/mapping_2d/local_trajectory_builder_options_2d.h b/cartographer/mapping/2d/local_trajectory_builder_options_2d.h similarity index 94% rename from cartographer/mapping_2d/local_trajectory_builder_options_2d.h rename to cartographer/mapping/2d/local_trajectory_builder_options_2d.h index 68d0f4a..d66337e 100644 --- a/cartographer/mapping_2d/local_trajectory_builder_options_2d.h +++ b/cartographer/mapping/2d/local_trajectory_builder_options_2d.h @@ -18,7 +18,7 @@ #define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_ #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.pb.h" +#include "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.pb.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_2d/map_limits.h b/cartographer/mapping/2d/map_limits.h similarity index 97% rename from cartographer/mapping_2d/map_limits.h rename to cartographer/mapping/2d/map_limits.h index a91fa06..d131bcb 100644 --- a/cartographer/mapping_2d/map_limits.h +++ b/cartographer/mapping/2d/map_limits.h @@ -23,9 +23,9 @@ #include "Eigen/Core" #include "Eigen/Geometry" #include "cartographer/common/math.h" +#include "cartographer/mapping/2d/proto/map_limits.pb.h" +#include "cartographer/mapping/2d/xy_index.h" #include "cartographer/mapping/trajectory_node.h" -#include "cartographer/mapping_2d/proto/map_limits.pb.h" -#include "cartographer/mapping_2d/xy_index.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/rigid_transform.h" diff --git a/cartographer/mapping_2d/map_limits_test.cc b/cartographer/mapping/2d/map_limits_test.cc similarity index 97% rename from cartographer/mapping_2d/map_limits_test.cc rename to cartographer/mapping/2d/map_limits_test.cc index c3a414e..ee54164 100644 --- a/cartographer/mapping_2d/map_limits_test.cc +++ b/cartographer/mapping/2d/map_limits_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/map_limits.h" +#include "cartographer/mapping/2d/map_limits.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_2d/pose_graph/constraint_builder_2d.cc b/cartographer/mapping/2d/pose_graph/constraint_builder_2d.cc similarity index 97% rename from cartographer/mapping_2d/pose_graph/constraint_builder_2d.cc rename to cartographer/mapping/2d/pose_graph/constraint_builder_2d.cc index d6e1857..3ce1631 100644 --- a/cartographer/mapping_2d/pose_graph/constraint_builder_2d.cc +++ b/cartographer/mapping/2d/pose_graph/constraint_builder_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/pose_graph/constraint_builder_2d.h" +#include "cartographer/mapping/2d/pose_graph/constraint_builder_2d.h" #include #include @@ -29,8 +29,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/math.h" #include "cartographer/common/thread_pool.h" -#include "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h" -#include "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h" +#include "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h" +#include "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h" #include "cartographer/metrics/counter.h" #include "cartographer/metrics/gauge.h" #include "cartographer/metrics/histogram.h" @@ -307,7 +307,7 @@ void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) { void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) { auto* counts = factory->NewCounterFamily( - "/mapping_2d/pose_graph/constraint_builder/constraints", + "/mapping/2d/pose_graph/constraint_builder/constraints", "Constraints computed"); kConstraintsSearchedMetric = counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); @@ -318,11 +318,11 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) { kGlobalConstraintsFoundMetric = counts->Add({{"search_region", "global"}, {"matcher", "found"}}); auto* queue_length = factory->NewGaugeFamily( - "/mapping_2d/pose_graph/constraint_builder/queue_length", "Queue length"); + "/mapping/2d/pose_graph/constraint_builder/queue_length", "Queue length"); kQueueLengthMetric = queue_length->Add({{}}); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto* scores = factory->NewHistogramFamily( - "/mapping_2d/pose_graph/constraint_builder/scores", + "/mapping/2d/pose_graph/constraint_builder/scores", "Constraint scores built", boundaries); kConstraintScoresMetric = scores->Add({{"search_region", "local"}}); kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}}); diff --git a/cartographer/mapping_2d/pose_graph/constraint_builder_2d.h b/cartographer/mapping/2d/pose_graph/constraint_builder_2d.h similarity index 97% rename from cartographer/mapping_2d/pose_graph/constraint_builder_2d.h rename to cartographer/mapping/2d/pose_graph/constraint_builder_2d.h index 93b0254..c671be1 100644 --- a/cartographer/mapping_2d/pose_graph/constraint_builder_2d.h +++ b/cartographer/mapping/2d/pose_graph/constraint_builder_2d.h @@ -30,11 +30,11 @@ #include "cartographer/common/math.h" #include "cartographer/common/mutex.h" #include "cartographer/common/thread_pool.h" +#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h" #include "cartographer/mapping/pose_graph_interface.h" -#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h" -#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h" -#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/metrics/family_factory.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/voxel_filter.h" diff --git a/cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h b/cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h similarity index 98% rename from cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h rename to cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h index 98dd7d2..17d6966 100644 --- a/cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h +++ b/cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h @@ -19,9 +19,9 @@ #include "Eigen/Core" #include "Eigen/Geometry" +#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h" #include "cartographer/mapping/pose_graph/cost_helpers.h" #include "cartographer/mapping/pose_graph_interface.h" -#include "cartographer/mapping_2d/pose_graph/optimization_problem_2d.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" diff --git a/cartographer/mapping_2d/pose_graph/landmark_cost_function_2d_test.cc b/cartographer/mapping/2d/pose_graph/landmark_cost_function_2d_test.cc similarity index 97% rename from cartographer/mapping_2d/pose_graph/landmark_cost_function_2d_test.cc rename to cartographer/mapping/2d/pose_graph/landmark_cost_function_2d_test.cc index 8d3220d..123e4c9 100644 --- a/cartographer/mapping_2d/pose_graph/landmark_cost_function_2d_test.cc +++ b/cartographer/mapping/2d/pose_graph/landmark_cost_function_2d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h" +#include "cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h" #include diff --git a/cartographer/mapping_2d/pose_graph/optimization_problem_2d.cc b/cartographer/mapping/2d/pose_graph/optimization_problem_2d.cc similarity index 98% rename from cartographer/mapping_2d/pose_graph/optimization_problem_2d.cc rename to cartographer/mapping/2d/pose_graph/optimization_problem_2d.cc index b6792eb..4b5b72b 100644 --- a/cartographer/mapping_2d/pose_graph/optimization_problem_2d.cc +++ b/cartographer/mapping/2d/pose_graph/optimization_problem_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/pose_graph/optimization_problem_2d.h" +#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h" #include #include @@ -27,9 +27,9 @@ #include "cartographer/common/ceres_solver_options.h" #include "cartographer/common/histogram.h" #include "cartographer/common/math.h" +#include "cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h" +#include "cartographer/mapping/2d/pose_graph/spa_cost_function_2d.h" #include "cartographer/mapping/pose_graph/ceres_pose.h" -#include "cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h" -#include "cartographer/mapping_2d/pose_graph/spa_cost_function_2d.h" #include "cartographer/sensor/odometry_data.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" diff --git a/cartographer/mapping_2d/pose_graph/optimization_problem_2d.h b/cartographer/mapping/2d/pose_graph/optimization_problem_2d.h similarity index 100% rename from cartographer/mapping_2d/pose_graph/optimization_problem_2d.h rename to cartographer/mapping/2d/pose_graph/optimization_problem_2d.h diff --git a/cartographer/mapping_2d/pose_graph/spa_cost_function_2d.h b/cartographer/mapping/2d/pose_graph/spa_cost_function_2d.h similarity index 100% rename from cartographer/mapping_2d/pose_graph/spa_cost_function_2d.h rename to cartographer/mapping/2d/pose_graph/spa_cost_function_2d.h diff --git a/cartographer/mapping_2d/pose_graph_2d.cc b/cartographer/mapping/2d/pose_graph_2d.cc similarity index 99% rename from cartographer/mapping_2d/pose_graph_2d.cc rename to cartographer/mapping/2d/pose_graph_2d.cc index 053825f..ccecb32 100644 --- a/cartographer/mapping_2d/pose_graph_2d.cc +++ b/cartographer/mapping/2d/pose_graph_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/pose_graph_2d.h" +#include "cartographer/mapping/2d/pose_graph_2d.h" #include #include diff --git a/cartographer/mapping_2d/pose_graph_2d.h b/cartographer/mapping/2d/pose_graph_2d.h similarity index 98% rename from cartographer/mapping_2d/pose_graph_2d.h rename to cartographer/mapping/2d/pose_graph_2d.h index 92d30d6..a6230e5 100644 --- a/cartographer/mapping_2d/pose_graph_2d.h +++ b/cartographer/mapping/2d/pose_graph_2d.h @@ -32,12 +32,12 @@ #include "cartographer/common/mutex.h" #include "cartographer/common/thread_pool.h" #include "cartographer/common/time.h" +#include "cartographer/mapping/2d/pose_graph/constraint_builder_2d.h" +#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/pose_graph.h" #include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/trajectory_connectivity_state.h" -#include "cartographer/mapping_2d/pose_graph/constraint_builder_2d.h" -#include "cartographer/mapping_2d/pose_graph/optimization_problem_2d.h" -#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/sensor/fixed_frame_pose_data.h" #include "cartographer/sensor/landmark_data.h" #include "cartographer/sensor/odometry_data.h" diff --git a/cartographer/mapping_2d/pose_graph_2d_test.cc b/cartographer/mapping/2d/pose_graph_2d_test.cc similarity index 98% rename from cartographer/mapping_2d/pose_graph_2d_test.cc rename to cartographer/mapping/2d/pose_graph_2d_test.cc index 8366b98..4fc217f 100644 --- a/cartographer/mapping_2d/pose_graph_2d_test.cc +++ b/cartographer/mapping/2d/pose_graph_2d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/pose_graph_2d.h" +#include "cartographer/mapping/2d/pose_graph_2d.h" #include #include @@ -24,8 +24,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/thread_pool.h" #include "cartographer/common/time.h" -#include "cartographer/mapping_2d/range_data_inserter_2d.h" -#include "cartographer/mapping_2d/submap_2d.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/transform.h" diff --git a/cartographer/mapping_2d/probability_grid.cc b/cartographer/mapping/2d/probability_grid.cc similarity index 99% rename from cartographer/mapping_2d/probability_grid.cc rename to cartographer/mapping/2d/probability_grid.cc index 472bc43..dec5a89 100644 --- a/cartographer/mapping_2d/probability_grid.cc +++ b/cartographer/mapping/2d/probability_grid.cc @@ -1,4 +1,4 @@ -#include "cartographer/mapping_2d/probability_grid.h" +#include "cartographer/mapping/2d/probability_grid.h" #include diff --git a/cartographer/mapping_2d/probability_grid.h b/cartographer/mapping/2d/probability_grid.h similarity index 95% rename from cartographer/mapping_2d/probability_grid.h rename to cartographer/mapping/2d/probability_grid.h index 38ffe4a..7723f2e 100644 --- a/cartographer/mapping_2d/probability_grid.h +++ b/cartographer/mapping/2d/probability_grid.h @@ -20,9 +20,9 @@ #include #include "cartographer/common/port.h" -#include "cartographer/mapping_2d/map_limits.h" -#include "cartographer/mapping_2d/proto/probability_grid.pb.h" -#include "cartographer/mapping_2d/xy_index.h" +#include "cartographer/mapping/2d/map_limits.h" +#include "cartographer/mapping/2d/proto/probability_grid.pb.h" +#include "cartographer/mapping/2d/xy_index.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_2d/probability_grid_test.cc b/cartographer/mapping/2d/probability_grid_test.cc similarity index 99% rename from cartographer/mapping_2d/probability_grid_test.cc rename to cartographer/mapping/2d/probability_grid_test.cc index b9530ea..1cedc46 100644 --- a/cartographer/mapping_2d/probability_grid_test.cc +++ b/cartographer/mapping/2d/probability_grid_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/probability_grid.h" +#include "cartographer/mapping/2d/probability_grid.h" #include diff --git a/cartographer/mapping_2d/proto/cell_limits.proto b/cartographer/mapping/2d/proto/cell_limits.proto similarity index 100% rename from cartographer/mapping_2d/proto/cell_limits.proto rename to cartographer/mapping/2d/proto/cell_limits.proto diff --git a/cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto b/cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.proto similarity index 95% rename from cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto rename to cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.proto index 5829384..1c9a91c 100644 --- a/cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto +++ b/cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.proto @@ -18,8 +18,8 @@ package cartographer.mapping.proto; import "cartographer/mapping/proto/motion_filter_options.proto"; import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto"; -import "cartographer/mapping_2d/proto/submaps_options_2d.proto"; -import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto"; +import "cartographer/mapping/2d/proto/submaps_options_2d.proto"; +import "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto"; import "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.proto"; message LocalTrajectoryBuilderOptions2D { diff --git a/cartographer/mapping_2d/proto/map_limits.proto b/cartographer/mapping/2d/proto/map_limits.proto similarity index 93% rename from cartographer/mapping_2d/proto/map_limits.proto rename to cartographer/mapping/2d/proto/map_limits.proto index 592f3b7..20bd883 100644 --- a/cartographer/mapping_2d/proto/map_limits.proto +++ b/cartographer/mapping/2d/proto/map_limits.proto @@ -14,7 +14,7 @@ syntax = "proto3"; -import "cartographer/mapping_2d/proto/cell_limits.proto"; +import "cartographer/mapping/2d/proto/cell_limits.proto"; import "cartographer/transform/proto/transform.proto"; package cartographer.mapping.proto; diff --git a/cartographer/mapping_2d/proto/probability_grid.proto b/cartographer/mapping/2d/proto/probability_grid.proto similarity index 94% rename from cartographer/mapping_2d/proto/probability_grid.proto rename to cartographer/mapping/2d/proto/probability_grid.proto index 700e31c..7620249 100644 --- a/cartographer/mapping_2d/proto/probability_grid.proto +++ b/cartographer/mapping/2d/proto/probability_grid.proto @@ -14,7 +14,7 @@ syntax = "proto3"; -import "cartographer/mapping_2d/proto/map_limits.proto"; +import "cartographer/mapping/2d/proto/map_limits.proto"; package cartographer.mapping.proto; diff --git a/cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto b/cartographer/mapping/2d/proto/range_data_inserter_options_2d.proto similarity index 100% rename from cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto rename to cartographer/mapping/2d/proto/range_data_inserter_options_2d.proto diff --git a/cartographer/mapping_2d/proto/submaps_options_2d.proto b/cartographer/mapping/2d/proto/submaps_options_2d.proto similarity index 94% rename from cartographer/mapping_2d/proto/submaps_options_2d.proto rename to cartographer/mapping/2d/proto/submaps_options_2d.proto index d8fa1f4..96f11bd 100644 --- a/cartographer/mapping_2d/proto/submaps_options_2d.proto +++ b/cartographer/mapping/2d/proto/submaps_options_2d.proto @@ -14,7 +14,7 @@ syntax = "proto3"; -import "cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto"; +import "cartographer/mapping/2d/proto/range_data_inserter_options_2d.proto"; package cartographer.mapping.proto; diff --git a/cartographer/mapping_2d/range_data_inserter_2d.cc b/cartographer/mapping/2d/range_data_inserter_2d.cc similarity index 93% rename from cartographer/mapping_2d/range_data_inserter_2d.cc rename to cartographer/mapping/2d/range_data_inserter_2d.cc index 4bbe288..387d2e0 100644 --- a/cartographer/mapping_2d/range_data_inserter_2d.cc +++ b/cartographer/mapping/2d/range_data_inserter_2d.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/range_data_inserter_2d.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include #include "Eigen/Core" #include "Eigen/Geometry" +#include "cartographer/mapping/2d/ray_casting.h" +#include "cartographer/mapping/2d/xy_index.h" #include "cartographer/mapping/probability_values.h" -#include "cartographer/mapping_2d/ray_casting.h" -#include "cartographer/mapping_2d/xy_index.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer/mapping_2d/range_data_inserter_2d.h b/cartographer/mapping/2d/range_data_inserter_2d.h similarity index 91% rename from cartographer/mapping_2d/range_data_inserter_2d.h rename to cartographer/mapping/2d/range_data_inserter_2d.h index 5211a67..ff6e0eb 100644 --- a/cartographer/mapping_2d/range_data_inserter_2d.h +++ b/cartographer/mapping/2d/range_data_inserter_2d.h @@ -22,9 +22,9 @@ #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/port.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h" -#include "cartographer/mapping_2d/xy_index.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h" +#include "cartographer/mapping/2d/xy_index.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/range_data.h" diff --git a/cartographer/mapping_2d/range_data_inserter_2d_test.cc b/cartographer/mapping/2d/range_data_inserter_2d_test.cc similarity index 97% rename from cartographer/mapping_2d/range_data_inserter_2d_test.cc rename to cartographer/mapping/2d/range_data_inserter_2d_test.cc index d53f6d4..5a1b934 100644 --- a/cartographer/mapping_2d/range_data_inserter_2d_test.cc +++ b/cartographer/mapping/2d/range_data_inserter_2d_test.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/range_data_inserter_2d.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/make_unique.h" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/probability_values.h" -#include "cartographer/mapping_2d/probability_grid.h" #include "gmock/gmock.h" namespace cartographer { diff --git a/cartographer/mapping_2d/ray_casting.cc b/cartographer/mapping/2d/ray_casting.cc similarity index 99% rename from cartographer/mapping_2d/ray_casting.cc rename to cartographer/mapping/2d/ray_casting.cc index 9d9b3f8..6691e5d 100644 --- a/cartographer/mapping_2d/ray_casting.cc +++ b/cartographer/mapping/2d/ray_casting.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/ray_casting.h" +#include "cartographer/mapping/2d/ray_casting.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_2d/ray_casting.h b/cartographer/mapping/2d/ray_casting.h similarity index 96% rename from cartographer/mapping_2d/ray_casting.h rename to cartographer/mapping/2d/ray_casting.h index f9fe956..dee0c57 100644 --- a/cartographer/mapping_2d/ray_casting.h +++ b/cartographer/mapping/2d/ray_casting.h @@ -20,7 +20,7 @@ #include #include "cartographer/common/port.h" -#include "cartographer/mapping_2d/probability_grid.h" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/transform.h" diff --git a/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.cc b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc similarity index 92% rename from cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.cc rename to cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc index e98eb6d..69776d1 100644 --- a/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.cc +++ b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h" #include #include @@ -22,10 +22,10 @@ #include "Eigen/Core" #include "cartographer/common/ceres_solver_options.h" #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function_2d.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor_2d.h" -#include "cartographer/mapping_2d/scan_matching/translation_delta_cost_functor_2d.h" +#include "cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h" +#include "cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" #include "glog/logging.h" diff --git a/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h similarity index 95% rename from cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h rename to cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h index 5b124e1..d517754 100644 --- a/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h +++ b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h @@ -22,8 +22,8 @@ #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h" #include "cartographer/sensor/point_cloud.h" #include "ceres/ceres.h" diff --git a/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d_test.cc b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc similarity index 96% rename from cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d_test.cc rename to cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc index d5b49c6..6cf4788 100644 --- a/cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d_test.cc +++ b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h" #include #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/make_unique.h" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/probability_values.h" -#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform_test_helpers.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.cc b/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc similarity index 98% rename from cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.cc rename to cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc index d7b5de6..12b8529 100644 --- a/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.cc +++ b/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h" #include diff --git a/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h b/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h similarity index 97% rename from cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h rename to cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h index 515402e..205d5d9 100644 --- a/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h +++ b/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h @@ -21,8 +21,8 @@ #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/mapping_2d/map_limits.h" -#include "cartographer/mapping_2d/xy_index.h" +#include "cartographer/mapping/2d/map_limits.h" +#include "cartographer/mapping/2d/xy_index.h" #include "cartographer/sensor/point_cloud.h" namespace cartographer { diff --git a/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc b/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc similarity index 98% rename from cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc rename to cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc index 1fa9072..6e16e90 100644 --- a/cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc +++ b/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h" #include "cartographer/sensor/point_cloud.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.cc b/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc similarity index 99% rename from cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.cc rename to cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc index 3cba7af..7530f76 100644 --- a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.cc +++ b/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h" #include #include @@ -24,7 +24,7 @@ #include "Eigen/Geometry" #include "cartographer/common/math.h" -#include "cartographer/mapping_2d/probability_grid.h" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/transform.h" #include "glog/logging.h" diff --git a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h b/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h similarity index 97% rename from cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h rename to cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h index 819f373..3f62e44 100644 --- a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h +++ b/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h @@ -30,10 +30,10 @@ #include "Eigen/Core" #include "cartographer/common/port.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h" #include "cartographer/mapping/probability_values.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h" -#include "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h" #include "cartographer/sensor/point_cloud.h" namespace cartographer { diff --git a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc b/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc similarity index 98% rename from cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc rename to cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc index 118fef2..d540d9e 100644 --- a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc +++ b/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h" #include #include @@ -23,8 +23,8 @@ #include #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/range_data_inserter_2d.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/transform.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_2d/scan_matching/fast_global_localizer.cc b/cartographer/mapping/2d/scan_matching/fast_global_localizer.cc similarity index 96% rename from cartographer/mapping_2d/scan_matching/fast_global_localizer.cc rename to cartographer/mapping/2d/scan_matching/fast_global_localizer.cc index 02c4f5f..fab9d77 100644 --- a/cartographer/mapping_2d/scan_matching/fast_global_localizer.cc +++ b/cartographer/mapping/2d/scan_matching/fast_global_localizer.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/fast_global_localizer.h" +#include "cartographer/mapping/2d/scan_matching/fast_global_localizer.h" #include "glog/logging.h" diff --git a/cartographer/mapping_2d/scan_matching/fast_global_localizer.h b/cartographer/mapping/2d/scan_matching/fast_global_localizer.h similarity index 96% rename from cartographer/mapping_2d/scan_matching/fast_global_localizer.h rename to cartographer/mapping/2d/scan_matching/fast_global_localizer.h index e15f204..ad8acfb 100644 --- a/cartographer/mapping_2d/scan_matching/fast_global_localizer.h +++ b/cartographer/mapping/2d/scan_matching/fast_global_localizer.h @@ -20,7 +20,7 @@ #include #include "Eigen/Geometry" -#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h" #include "cartographer/sensor/voxel_filter.h" namespace cartographer { diff --git a/cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto b/cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto similarity index 100% rename from cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto rename to cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto diff --git a/cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto b/cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto similarity index 100% rename from cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto rename to cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto diff --git a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.cc b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc similarity index 97% rename from cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.cc rename to cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc index aeeb607..f1d45e7 100644 --- a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.cc +++ b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" #include #include @@ -24,7 +24,7 @@ #include "Eigen/Geometry" #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/math.h" -#include "cartographer/mapping_2d/probability_grid.h" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/transform.h" #include "glog/logging.h" diff --git a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h similarity index 96% rename from cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h rename to cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h index fcad1c1..3b7e919 100644 --- a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h +++ b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h @@ -41,10 +41,10 @@ #include #include "Eigen/Core" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h" #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h" #include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc similarity index 96% rename from cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc rename to cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc index 0b25c10..d66c6fc 100644 --- a/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc +++ b/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" #include #include @@ -22,8 +22,8 @@ #include "Eigen/Geometry" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/make_unique.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/range_data_inserter_2d.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/transform.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor_2d.h b/cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h similarity index 100% rename from cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor_2d.h rename to cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h diff --git a/cartographer/mapping_2d/scan_matching/translation_delta_cost_functor_2d.h b/cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h similarity index 100% rename from cartographer/mapping_2d/scan_matching/translation_delta_cost_functor_2d.h rename to cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h diff --git a/cartographer/mapping_2d/submap_2d.cc b/cartographer/mapping/2d/submap_2d.cc similarity index 99% rename from cartographer/mapping_2d/submap_2d.cc rename to cartographer/mapping/2d/submap_2d.cc index 1d2d1d6..2016af7 100644 --- a/cartographer/mapping_2d/submap_2d.cc +++ b/cartographer/mapping/2d/submap_2d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/submap_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include #include diff --git a/cartographer/mapping_2d/submap_2d.h b/cartographer/mapping/2d/submap_2d.h similarity index 94% rename from cartographer/mapping_2d/submap_2d.h rename to cartographer/mapping/2d/submap_2d.h index 2793aaa..ba35e4c 100644 --- a/cartographer/mapping_2d/submap_2d.h +++ b/cartographer/mapping/2d/submap_2d.h @@ -22,14 +22,14 @@ #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary.h" +#include "cartographer/mapping/2d/map_limits.h" +#include "cartographer/mapping/2d/probability_grid.h" +#include "cartographer/mapping/2d/proto/submaps_options_2d.pb.h" +#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include "cartographer/mapping/proto/serialization.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h" #include "cartographer/mapping/submaps.h" #include "cartographer/mapping/trajectory_node.h" -#include "cartographer/mapping_2d/map_limits.h" -#include "cartographer/mapping_2d/probability_grid.h" -#include "cartographer/mapping_2d/proto/submaps_options_2d.pb.h" -#include "cartographer/mapping_2d/range_data_inserter_2d.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/rigid_transform.h" diff --git a/cartographer/mapping_2d/submap_2d_test.cc b/cartographer/mapping/2d/submap_2d_test.cc similarity index 98% rename from cartographer/mapping_2d/submap_2d_test.cc rename to cartographer/mapping/2d/submap_2d_test.cc index 075e1d0..64380c1 100644 --- a/cartographer/mapping_2d/submap_2d_test.cc +++ b/cartographer/mapping/2d/submap_2d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/submap_2d.h" +#include "cartographer/mapping/2d/submap_2d.h" #include #include diff --git a/cartographer/mapping_2d/xy_index.h b/cartographer/mapping/2d/xy_index.h similarity index 98% rename from cartographer/mapping_2d/xy_index.h rename to cartographer/mapping/2d/xy_index.h index 1e11629..1d0e78b 100644 --- a/cartographer/mapping_2d/xy_index.h +++ b/cartographer/mapping/2d/xy_index.h @@ -25,7 +25,7 @@ #include "Eigen/Core" #include "cartographer/common/math.h" #include "cartographer/common/port.h" -#include "cartographer/mapping_2d/proto/cell_limits.pb.h" +#include "cartographer/mapping/2d/proto/cell_limits.pb.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer/mapping_2d/xy_index_test.cc b/cartographer/mapping/2d/xy_index_test.cc similarity index 97% rename from cartographer/mapping_2d/xy_index_test.cc rename to cartographer/mapping/2d/xy_index_test.cc index ad750e0..e80dfc4 100644 --- a/cartographer/mapping_2d/xy_index_test.cc +++ b/cartographer/mapping/2d/xy_index_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_2d/xy_index.h" +#include "cartographer/mapping/2d/xy_index.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_3d/hybrid_grid.h b/cartographer/mapping/3d/hybrid_grid.h similarity index 99% rename from cartographer/mapping_3d/hybrid_grid.h rename to cartographer/mapping/3d/hybrid_grid.h index b5fa75e..c9e19c6 100644 --- a/cartographer/mapping_3d/hybrid_grid.h +++ b/cartographer/mapping/3d/hybrid_grid.h @@ -27,8 +27,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/math.h" #include "cartographer/common/port.h" +#include "cartographer/mapping/3d/proto/hybrid_grid.pb.h" #include "cartographer/mapping/probability_values.h" -#include "cartographer/mapping_3d/proto/hybrid_grid.pb.h" #include "cartographer/transform/transform.h" #include "glog/logging.h" diff --git a/cartographer/mapping_3d/hybrid_grid_test.cc b/cartographer/mapping/3d/hybrid_grid_test.cc similarity index 99% rename from cartographer/mapping_3d/hybrid_grid_test.cc rename to cartographer/mapping/3d/hybrid_grid_test.cc index aba7c75..62309de 100644 --- a/cartographer/mapping_3d/hybrid_grid_test.cc +++ b/cartographer/mapping/3d/hybrid_grid_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include #include diff --git a/cartographer/mapping_3d/imu_integration.h b/cartographer/mapping/3d/imu_integration.h similarity index 100% rename from cartographer/mapping_3d/imu_integration.h rename to cartographer/mapping/3d/imu_integration.h diff --git a/cartographer/mapping_3d/local_trajectory_builder_options_3d.cc b/cartographer/mapping/3d/local_trajectory_builder_options_3d.cc similarity index 94% rename from cartographer/mapping_3d/local_trajectory_builder_options_3d.cc rename to cartographer/mapping/3d/local_trajectory_builder_options_3d.cc index 134fc72..efc464d 100644 --- a/cartographer/mapping_3d/local_trajectory_builder_options_3d.cc +++ b/cartographer/mapping/3d/local_trajectory_builder_options_3d.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/local_trajectory_builder_options_3d.h" +#include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h" #include "cartographer/internal/mapping/motion_filter.h" +#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h" -#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h" -#include "cartographer/mapping_3d/submap_3d.h" #include "cartographer/sensor/voxel_filter.h" #include "glog/logging.h" diff --git a/cartographer/mapping_3d/local_trajectory_builder_options_3d.h b/cartographer/mapping/3d/local_trajectory_builder_options_3d.h similarity index 94% rename from cartographer/mapping_3d/local_trajectory_builder_options_3d.h rename to cartographer/mapping/3d/local_trajectory_builder_options_3d.h index 7c0dc5c..e7165c5 100644 --- a/cartographer/mapping_3d/local_trajectory_builder_options_3d.h +++ b/cartographer/mapping/3d/local_trajectory_builder_options_3d.h @@ -18,7 +18,7 @@ #define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_ #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.pb.h" +#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_3d/pose_graph/constraint_builder_3d.cc b/cartographer/mapping/3d/pose_graph/constraint_builder_3d.cc similarity index 97% rename from cartographer/mapping_3d/pose_graph/constraint_builder_3d.cc rename to cartographer/mapping/3d/pose_graph/constraint_builder_3d.cc index 03f5972..3fda925 100644 --- a/cartographer/mapping_3d/pose_graph/constraint_builder_3d.cc +++ b/cartographer/mapping/3d/pose_graph/constraint_builder_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/pose_graph/constraint_builder_3d.h" +#include "cartographer/mapping/3d/pose_graph/constraint_builder_3d.h" #include #include @@ -29,8 +29,8 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/math.h" #include "cartographer/common/thread_pool.h" -#include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h" -#include "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h" #include "cartographer/metrics/counter.h" #include "cartographer/metrics/gauge.h" #include "cartographer/metrics/histogram.h" @@ -340,7 +340,7 @@ void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) { void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) { auto* counts = factory->NewCounterFamily( - "/mapping_3d/pose_graph/constraint_builder/constraints", + "/mapping/3d/pose_graph/constraint_builder/constraints", "Constraints computed"); kConstraintsSearchedMetric = counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); @@ -351,11 +351,11 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) { kGlobalConstraintsFoundMetric = counts->Add({{"search_region", "global"}, {"matcher", "found"}}); auto* queue_length = factory->NewGaugeFamily( - "/mapping_3d/pose_graph/constraint_builder/queue_length", "Queue length"); + "/mapping/3d/pose_graph/constraint_builder/queue_length", "Queue length"); kQueueLengthMetric = queue_length->Add({{}}); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto* scores = factory->NewHistogramFamily( - "/mapping_3d/pose_graph/constraint_builder/scores", + "/mapping/3d/pose_graph/constraint_builder/scores", "Constraint scores built", boundaries); kConstraintScoresMetric = scores->Add({{"search_region", "local"}, {"kind", "score"}}); diff --git a/cartographer/mapping_3d/pose_graph/constraint_builder_3d.h b/cartographer/mapping/3d/pose_graph/constraint_builder_3d.h similarity index 97% rename from cartographer/mapping_3d/pose_graph/constraint_builder_3d.h rename to cartographer/mapping/3d/pose_graph/constraint_builder_3d.h index 9b66f2f..f90e575 100644 --- a/cartographer/mapping_3d/pose_graph/constraint_builder_3d.h +++ b/cartographer/mapping/3d/pose_graph/constraint_builder_3d.h @@ -31,12 +31,12 @@ #include "cartographer/common/math.h" #include "cartographer/common/mutex.h" #include "cartographer/common/thread_pool.h" +#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h" #include "cartographer/mapping/pose_graph_interface.h" #include "cartographer/mapping/trajectory_node.h" -#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h" -#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h" -#include "cartographer/mapping_3d/submap_3d.h" #include "cartographer/metrics/family_factory.h" #include "cartographer/sensor/compressed_point_cloud.h" #include "cartographer/sensor/point_cloud.h" diff --git a/cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h b/cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h similarity index 98% rename from cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h rename to cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h index ebaa415..520b75d 100644 --- a/cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h +++ b/cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h @@ -19,9 +19,9 @@ #include "Eigen/Core" #include "Eigen/Geometry" +#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h" #include "cartographer/mapping/pose_graph/cost_helpers.h" #include "cartographer/mapping/pose_graph_interface.h" -#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" diff --git a/cartographer/mapping_3d/pose_graph/landmark_cost_function_3d_test.cc b/cartographer/mapping/3d/pose_graph/landmark_cost_function_3d_test.cc similarity index 97% rename from cartographer/mapping_3d/pose_graph/landmark_cost_function_3d_test.cc rename to cartographer/mapping/3d/pose_graph/landmark_cost_function_3d_test.cc index 0e2aa49..543395b 100644 --- a/cartographer/mapping_3d/pose_graph/landmark_cost_function_3d_test.cc +++ b/cartographer/mapping/3d/pose_graph/landmark_cost_function_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h" +#include "cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h" #include diff --git a/cartographer/mapping_3d/pose_graph/optimization_problem_3d.cc b/cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc similarity index 98% rename from cartographer/mapping_3d/pose_graph/optimization_problem_3d.cc rename to cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc index 835d52b..5ce557f 100644 --- a/cartographer/mapping_3d/pose_graph/optimization_problem_3d.cc +++ b/cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h" +#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h" #include #include @@ -30,13 +30,13 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/math.h" #include "cartographer/common/time.h" -#include "cartographer/internal/mapping_3d/acceleration_cost_function_3d.h" -#include "cartographer/internal/mapping_3d/rotation_cost_function_3d.h" +#include "cartographer/internal/mapping/3d/acceleration_cost_function_3d.h" +#include "cartographer/internal/mapping/3d/rotation_cost_function_3d.h" +#include "cartographer/mapping/3d/imu_integration.h" +#include "cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h" +#include "cartographer/mapping/3d/pose_graph/spa_cost_function_3d.h" +#include "cartographer/mapping/3d/rotation_parameterization.h" #include "cartographer/mapping/pose_graph/ceres_pose.h" -#include "cartographer/mapping_3d/imu_integration.h" -#include "cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h" -#include "cartographer/mapping_3d/pose_graph/spa_cost_function_3d.h" -#include "cartographer/mapping_3d/rotation_parameterization.h" #include "cartographer/transform/timestamped_transform.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" diff --git a/cartographer/mapping_3d/pose_graph/optimization_problem_3d.h b/cartographer/mapping/3d/pose_graph/optimization_problem_3d.h similarity index 100% rename from cartographer/mapping_3d/pose_graph/optimization_problem_3d.h rename to cartographer/mapping/3d/pose_graph/optimization_problem_3d.h diff --git a/cartographer/mapping_3d/pose_graph/optimization_problem_3d_test.cc b/cartographer/mapping/3d/pose_graph/optimization_problem_3d_test.cc similarity index 99% rename from cartographer/mapping_3d/pose_graph/optimization_problem_3d_test.cc rename to cartographer/mapping/3d/pose_graph/optimization_problem_3d_test.cc index 13a55e1..be329e9 100644 --- a/cartographer/mapping_3d/pose_graph/optimization_problem_3d_test.cc +++ b/cartographer/mapping/3d/pose_graph/optimization_problem_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h" +#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h" #include diff --git a/cartographer/mapping_3d/pose_graph/spa_cost_function_3d.h b/cartographer/mapping/3d/pose_graph/spa_cost_function_3d.h similarity index 100% rename from cartographer/mapping_3d/pose_graph/spa_cost_function_3d.h rename to cartographer/mapping/3d/pose_graph/spa_cost_function_3d.h diff --git a/cartographer/mapping_3d/pose_graph_3d.cc b/cartographer/mapping/3d/pose_graph_3d.cc similarity index 99% rename from cartographer/mapping_3d/pose_graph_3d.cc rename to cartographer/mapping/3d/pose_graph_3d.cc index 1df7216..3a99751 100644 --- a/cartographer/mapping_3d/pose_graph_3d.cc +++ b/cartographer/mapping/3d/pose_graph_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/pose_graph_3d.h" +#include "cartographer/mapping/3d/pose_graph_3d.h" #include #include diff --git a/cartographer/mapping_3d/pose_graph_3d.h b/cartographer/mapping/3d/pose_graph_3d.h similarity index 98% rename from cartographer/mapping_3d/pose_graph_3d.h rename to cartographer/mapping/3d/pose_graph_3d.h index 5bef40f..c426160 100644 --- a/cartographer/mapping_3d/pose_graph_3d.h +++ b/cartographer/mapping/3d/pose_graph_3d.h @@ -32,12 +32,12 @@ #include "cartographer/common/mutex.h" #include "cartographer/common/thread_pool.h" #include "cartographer/common/time.h" +#include "cartographer/mapping/3d/pose_graph/constraint_builder_3d.h" +#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/pose_graph.h" #include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/trajectory_connectivity_state.h" -#include "cartographer/mapping_3d/pose_graph/constraint_builder_3d.h" -#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h" -#include "cartographer/mapping_3d/submap_3d.h" #include "cartographer/sensor/fixed_frame_pose_data.h" #include "cartographer/sensor/landmark_data.h" #include "cartographer/sensor/odometry_data.h" diff --git a/cartographer/mapping_3d/proto/hybrid_grid.proto b/cartographer/mapping/3d/proto/hybrid_grid.proto similarity index 100% rename from cartographer/mapping_3d/proto/hybrid_grid.proto rename to cartographer/mapping/3d/proto/hybrid_grid.proto diff --git a/cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.proto b/cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.proto similarity index 95% rename from cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.proto rename to cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.proto index c173266..42d6b31 100644 --- a/cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.proto +++ b/cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.proto @@ -19,8 +19,8 @@ package cartographer.mapping.proto; import "cartographer/mapping/proto/motion_filter_options.proto"; import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto"; import "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.proto"; -import "cartographer/mapping_3d/proto/submaps_options_3d.proto"; -import "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto"; +import "cartographer/mapping/3d/proto/submaps_options_3d.proto"; +import "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto"; // NEXT ID: 18 message LocalTrajectoryBuilderOptions3D { diff --git a/cartographer/mapping_3d/proto/range_data_inserter_options_3d.proto b/cartographer/mapping/3d/proto/range_data_inserter_options_3d.proto similarity index 100% rename from cartographer/mapping_3d/proto/range_data_inserter_options_3d.proto rename to cartographer/mapping/3d/proto/range_data_inserter_options_3d.proto diff --git a/cartographer/mapping_3d/proto/submaps_options_3d.proto b/cartographer/mapping/3d/proto/submaps_options_3d.proto similarity index 95% rename from cartographer/mapping_3d/proto/submaps_options_3d.proto rename to cartographer/mapping/3d/proto/submaps_options_3d.proto index cf703a7..27a6813 100644 --- a/cartographer/mapping_3d/proto/submaps_options_3d.proto +++ b/cartographer/mapping/3d/proto/submaps_options_3d.proto @@ -14,7 +14,7 @@ syntax = "proto3"; -import "cartographer/mapping_3d/proto/range_data_inserter_options_3d.proto"; +import "cartographer/mapping/3d/proto/range_data_inserter_options_3d.proto"; package cartographer.mapping.proto; diff --git a/cartographer/mapping_3d/range_data_inserter_3d.cc b/cartographer/mapping/3d/range_data_inserter_3d.cc similarity index 98% rename from cartographer/mapping_3d/range_data_inserter_3d.cc rename to cartographer/mapping/3d/range_data_inserter_3d.cc index b601067..698ea2d 100644 --- a/cartographer/mapping_3d/range_data_inserter_3d.cc +++ b/cartographer/mapping/3d/range_data_inserter_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/range_data_inserter_3d.h" +#include "cartographer/mapping/3d/range_data_inserter_3d.h" #include "Eigen/Core" #include "cartographer/mapping/probability_values.h" diff --git a/cartographer/mapping_3d/range_data_inserter_3d.h b/cartographer/mapping/3d/range_data_inserter_3d.h similarity index 93% rename from cartographer/mapping_3d/range_data_inserter_3d.h rename to cartographer/mapping/3d/range_data_inserter_3d.h index 9af26f5..524dbfa 100644 --- a/cartographer/mapping_3d/range_data_inserter_3d.h +++ b/cartographer/mapping/3d/range_data_inserter_3d.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_ #define CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_ -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/proto/range_data_inserter_options_3d.pb.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/proto/range_data_inserter_options_3d.pb.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/range_data.h" diff --git a/cartographer/mapping_3d/range_data_inserter_3d_test.cc b/cartographer/mapping/3d/range_data_inserter_3d_test.cc similarity index 98% rename from cartographer/mapping_3d/range_data_inserter_3d_test.cc rename to cartographer/mapping/3d/range_data_inserter_3d_test.cc index e652d30..68efcff 100644 --- a/cartographer/mapping_3d/range_data_inserter_3d_test.cc +++ b/cartographer/mapping/3d/range_data_inserter_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/range_data_inserter_3d.h" +#include "cartographer/mapping/3d/range_data_inserter_3d.h" #include #include diff --git a/cartographer/mapping_3d/rotation_parameterization.h b/cartographer/mapping/3d/rotation_parameterization.h similarity index 100% rename from cartographer/mapping_3d/rotation_parameterization.h rename to cartographer/mapping/3d/rotation_parameterization.h diff --git a/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.cc b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc similarity index 93% rename from cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.cc rename to cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc index c2904bc..217eaff 100644 --- a/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.cc +++ b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h" #include #include @@ -22,11 +22,11 @@ #include "cartographer/common/ceres_solver_options.h" #include "cartographer/common/make_unique.h" -#include "cartographer/internal/mapping_3d/scan_matching/occupied_space_cost_function_3d.h" +#include "cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h" +#include "cartographer/mapping/3d/rotation_parameterization.h" +#include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h" +#include "cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h" #include "cartographer/mapping/pose_graph/ceres_pose.h" -#include "cartographer/mapping_3d/rotation_parameterization.h" -#include "cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d.h" -#include "cartographer/mapping_3d/scan_matching/translation_delta_cost_functor_3d.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/transform.h" #include "ceres/ceres.h" diff --git a/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h similarity index 95% rename from cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h rename to cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h index 58708f7..63b1e3e 100644 --- a/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h +++ b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h @@ -22,8 +22,8 @@ #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform.h" diff --git a/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d_test.cc b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc similarity index 97% rename from cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d_test.cc rename to cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc index 7b50c2e..f013ac2 100644 --- a/cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d_test.cc +++ b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h" #include #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform_test_helpers.h" diff --git a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.cc b/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc similarity index 98% rename from cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.cc rename to cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc index 11c582e..ba020ab 100644 --- a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.cc +++ b/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h" #include #include @@ -24,9 +24,9 @@ #include "Eigen/Geometry" #include "cartographer/common/make_unique.h" #include "cartographer/common/math.h" -#include "cartographer/mapping_3d/scan_matching/low_resolution_matcher.h" -#include "cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h" -#include "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h" +#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h" +#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h" #include "cartographer/transform/transform.h" #include "glog/logging.h" diff --git a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h b/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h similarity index 96% rename from cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h rename to cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h index ab14ea1..1f7b59d 100644 --- a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h +++ b/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h @@ -25,11 +25,11 @@ #include "Eigen/Core" #include "cartographer/common/port.h" +#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h" +#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h" #include "cartographer/mapping/trajectory_node.h" -#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h" -#include "cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h" #include "cartographer/sensor/point_cloud.h" namespace cartographer { diff --git a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc similarity index 98% rename from cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc rename to cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc index 9b678c9..c60297e 100644 --- a/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc +++ b/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h" #include #include @@ -23,7 +23,7 @@ #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/make_unique.h" -#include "cartographer/mapping_3d/range_data_inserter_3d.h" +#include "cartographer/mapping/3d/range_data_inserter_3d.h" #include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/transform.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_3d/scan_matching/interpolated_grid.h b/cartographer/mapping/3d/scan_matching/interpolated_grid.h similarity index 99% rename from cartographer/mapping_3d/scan_matching/interpolated_grid.h rename to cartographer/mapping/3d/scan_matching/interpolated_grid.h index e88e508..3d11cff 100644 --- a/cartographer/mapping_3d/scan_matching/interpolated_grid.h +++ b/cartographer/mapping/3d/scan_matching/interpolated_grid.h @@ -19,7 +19,7 @@ #include -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc b/cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc similarity index 96% rename from cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc rename to cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc index 4981d14..f3bbbf3 100644 --- a/cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc +++ b/cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc @@ -14,10 +14,10 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/interpolated_grid.h" +#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h" #include "Eigen/Core" -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "gtest/gtest.h" namespace cartographer { diff --git a/cartographer/mapping_3d/scan_matching/low_resolution_matcher.cc b/cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc similarity index 95% rename from cartographer/mapping_3d/scan_matching/low_resolution_matcher.cc rename to cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc index f9cfd39..c8bebe1 100644 --- a/cartographer/mapping_3d/scan_matching/low_resolution_matcher.cc +++ b/cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/low_resolution_matcher.h" +#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_3d/scan_matching/low_resolution_matcher.h b/cartographer/mapping/3d/scan_matching/low_resolution_matcher.h similarity index 96% rename from cartographer/mapping_3d/scan_matching/low_resolution_matcher.h rename to cartographer/mapping/3d/scan_matching/low_resolution_matcher.h index 2bf23e3..f202140 100644 --- a/cartographer/mapping_3d/scan_matching/low_resolution_matcher.h +++ b/cartographer/mapping/3d/scan_matching/low_resolution_matcher.h @@ -19,7 +19,7 @@ #include -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform.h" diff --git a/cartographer/mapping_3d/scan_matching/precomputation_grid_3d.cc b/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc similarity index 98% rename from cartographer/mapping_3d/scan_matching/precomputation_grid_3d.cc rename to cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc index 614be10..ecf014c 100644 --- a/cartographer/mapping_3d/scan_matching/precomputation_grid_3d.cc +++ b/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h" +#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h" #include diff --git a/cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h b/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h similarity index 97% rename from cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h rename to cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h index f1d8686..a1dc68c 100644 --- a/cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h +++ b/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_ #define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_ -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping_3d/scan_matching/precomputation_grid_3d_test.cc b/cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc similarity index 96% rename from cartographer/mapping_3d/scan_matching/precomputation_grid_3d_test.cc rename to cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc index 3f2463e..749b3b3 100644 --- a/cartographer/mapping_3d/scan_matching/precomputation_grid_3d_test.cc +++ b/cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h" +#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h" #include #include #include -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "gmock/gmock.h" namespace cartographer { diff --git a/cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto b/cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto similarity index 100% rename from cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto rename to cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto diff --git a/cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto b/cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto similarity index 100% rename from cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto rename to cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto diff --git a/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.cc b/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc similarity index 98% rename from cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.cc rename to cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc index 482e1e9..14b74c9 100644 --- a/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.cc +++ b/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h" #include diff --git a/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.h b/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h similarity index 98% rename from cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.h rename to cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h index bdedfc6..f955d73 100644 --- a/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.h +++ b/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h @@ -20,8 +20,8 @@ #include #include "Eigen/Core" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h" -#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/sensor/point_cloud.h" namespace cartographer { diff --git a/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc similarity index 95% rename from cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc rename to cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc index d94675b..f473a7b 100644 --- a/cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc +++ b/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc @@ -14,14 +14,14 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/real_time_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h" #include #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" -#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h" -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform_test_helpers.h" diff --git a/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d.h b/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h similarity index 100% rename from cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d.h rename to cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h diff --git a/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d_test.cc b/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc similarity index 98% rename from cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d_test.cc rename to cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc index fe4bf90..18d9328 100644 --- a/cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d_test.cc +++ b/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/rotation_delta_cost_functor_3d.h" +#include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc b/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc similarity index 99% rename from cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc rename to cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc index b3ebd04..348a77e 100644 --- a/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.cc +++ b/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h" +#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h" #include #include diff --git a/cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h b/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h similarity index 100% rename from cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h rename to cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h diff --git a/cartographer/mapping_3d/scan_matching/rotational_scan_matcher_test.cc b/cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc similarity index 97% rename from cartographer/mapping_3d/scan_matching/rotational_scan_matcher_test.cc rename to cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc index 077ba7a..fabebc7 100644 --- a/cartographer/mapping_3d/scan_matching/rotational_scan_matcher_test.cc +++ b/cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h" +#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h" #include diff --git a/cartographer/mapping_3d/scan_matching/translation_delta_cost_functor_3d.h b/cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h similarity index 100% rename from cartographer/mapping_3d/scan_matching/translation_delta_cost_functor_3d.h rename to cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h diff --git a/cartographer/mapping_3d/submap_3d.cc b/cartographer/mapping/3d/submap_3d.cc similarity index 99% rename from cartographer/mapping_3d/submap_3d.cc rename to cartographer/mapping/3d/submap_3d.cc index 02e590a..816de4a 100644 --- a/cartographer/mapping_3d/submap_3d.cc +++ b/cartographer/mapping/3d/submap_3d.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/submap_3d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include #include diff --git a/cartographer/mapping_3d/submap_3d.h b/cartographer/mapping/3d/submap_3d.h similarity index 95% rename from cartographer/mapping_3d/submap_3d.h rename to cartographer/mapping/3d/submap_3d.h index 153b888..5a1367f 100644 --- a/cartographer/mapping_3d/submap_3d.h +++ b/cartographer/mapping/3d/submap_3d.h @@ -23,13 +23,13 @@ #include "Eigen/Geometry" #include "cartographer/common/port.h" +#include "cartographer/mapping/3d/hybrid_grid.h" +#include "cartographer/mapping/3d/proto/submaps_options_3d.pb.h" +#include "cartographer/mapping/3d/range_data_inserter_3d.h" #include "cartographer/mapping/id.h" #include "cartographer/mapping/proto/serialization.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h" #include "cartographer/mapping/submaps.h" -#include "cartographer/mapping_3d/hybrid_grid.h" -#include "cartographer/mapping_3d/proto/submaps_options_3d.pb.h" -#include "cartographer/mapping_3d/range_data_inserter_3d.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/transform.h" diff --git a/cartographer/mapping_3d/submap_3d_test.cc b/cartographer/mapping/3d/submap_3d_test.cc similarity index 97% rename from cartographer/mapping_3d/submap_3d_test.cc rename to cartographer/mapping/3d/submap_3d_test.cc index e272e31..b16fd41 100644 --- a/cartographer/mapping_3d/submap_3d_test.cc +++ b/cartographer/mapping/3d/submap_3d_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer/mapping_3d/submap_3d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/transform/transform.h" #include "gmock/gmock.h" diff --git a/cartographer/mapping/local_slam_result_data.h b/cartographer/mapping/local_slam_result_data.h index 4bb9880..fa89ead 100644 --- a/cartographer/mapping/local_slam_result_data.h +++ b/cartographer/mapping/local_slam_result_data.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H #define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H -#include "cartographer/mapping_2d/pose_graph_2d.h" -#include "cartographer/mapping_3d/pose_graph_3d.h" +#include "cartographer/mapping/2d/pose_graph_2d.h" +#include "cartographer/mapping/3d/pose_graph_3d.h" #include "cartographer/sensor/data.h" namespace cartographer { diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc index 99a5b17..229f859 100644 --- a/cartographer/mapping/map_builder.cc +++ b/cartographer/mapping/map_builder.cc @@ -24,9 +24,9 @@ #include "cartographer/common/make_unique.h" #include "cartographer/common/time.h" +#include "cartographer/internal/mapping/2d/local_trajectory_builder_2d.h" +#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h" #include "cartographer/internal/mapping/global_trajectory_builder.h" -#include "cartographer/internal/mapping_2d/local_trajectory_builder_2d.h" -#include "cartographer/internal/mapping_3d/local_trajectory_builder_3d.h" #include "cartographer/mapping/collated_trajectory_builder.h" #include "cartographer/sensor/collator.h" #include "cartographer/sensor/range_data.h" diff --git a/cartographer/mapping/map_builder.h b/cartographer/mapping/map_builder.h index 02a2690..3609d4c 100644 --- a/cartographer/mapping/map_builder.h +++ b/cartographer/mapping/map_builder.h @@ -23,9 +23,9 @@ #include #include "cartographer/common/thread_pool.h" +#include "cartographer/mapping/2d/pose_graph_2d.h" +#include "cartographer/mapping/3d/pose_graph_3d.h" #include "cartographer/mapping/proto/map_builder_options.pb.h" -#include "cartographer/mapping_2d/pose_graph_2d.h" -#include "cartographer/mapping_3d/pose_graph_3d.h" #include "cartographer/sensor/collator_interface.h" namespace cartographer { diff --git a/cartographer/mapping/pose_graph/constraint_builder.cc b/cartographer/mapping/pose_graph/constraint_builder.cc index cec0e2e..fec217e 100644 --- a/cartographer/mapping/pose_graph/constraint_builder.cc +++ b/cartographer/mapping/pose_graph/constraint_builder.cc @@ -16,10 +16,10 @@ #include "cartographer/mapping/pose_graph/constraint_builder.h" -#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h" -#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h" -#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h" -#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h" +#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h" +#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h" +#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h" #include "cartographer/sensor/voxel_filter.h" namespace cartographer { diff --git a/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto b/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto index 594a4c6..13f8f38 100644 --- a/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto +++ b/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto @@ -16,10 +16,10 @@ syntax = "proto3"; package cartographer.mapping.pose_graph.proto; -import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto"; -import "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto"; -import "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto"; -import "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto"; +import "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto"; +import "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto"; +import "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto"; +import "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.proto"; message ConstraintBuilderOptions { // A constraint will be added if the proportion of added constraints to diff --git a/cartographer/mapping/proto/submap.proto b/cartographer/mapping/proto/submap.proto index 09fbbab..48db24d 100644 --- a/cartographer/mapping/proto/submap.proto +++ b/cartographer/mapping/proto/submap.proto @@ -16,8 +16,8 @@ syntax = "proto3"; package cartographer.mapping.proto; -import "cartographer/mapping_2d/proto/probability_grid.proto"; -import "cartographer/mapping_3d/proto/hybrid_grid.proto"; +import "cartographer/mapping/2d/proto/probability_grid.proto"; +import "cartographer/mapping/3d/proto/hybrid_grid.proto"; import "cartographer/transform/proto/transform.proto"; // Serialized state of a Submap2D. diff --git a/cartographer/mapping/proto/trajectory_builder_options.proto b/cartographer/mapping/proto/trajectory_builder_options.proto index 08c4ebf..4967e8c 100644 --- a/cartographer/mapping/proto/trajectory_builder_options.proto +++ b/cartographer/mapping/proto/trajectory_builder_options.proto @@ -15,8 +15,8 @@ syntax = "proto3"; import "cartographer/transform/proto/transform.proto"; -import "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto"; -import "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.proto"; +import "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.proto"; +import "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.proto"; package cartographer.mapping.proto; diff --git a/cartographer/mapping/submaps.h b/cartographer/mapping/submaps.h index dd77f5a..c92a951 100644 --- a/cartographer/mapping/submaps.h +++ b/cartographer/mapping/submaps.h @@ -23,12 +23,12 @@ #include "Eigen/Geometry" #include "cartographer/common/math.h" #include "cartographer/common/port.h" +#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/id.h" #include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/proto/serialization.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h" #include "cartographer/mapping/trajectory_node.h" -#include "cartographer/mapping_2d/probability_grid.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer/mapping/trajectory_builder_interface.cc b/cartographer/mapping/trajectory_builder_interface.cc index 1f0c13c..ff5ce79 100644 --- a/cartographer/mapping/trajectory_builder_interface.cc +++ b/cartographer/mapping/trajectory_builder_interface.cc @@ -16,9 +16,9 @@ #include "cartographer/mapping/trajectory_builder_interface.h" +#include "cartographer/mapping/2d/local_trajectory_builder_options_2d.h" +#include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h" #include "cartographer/mapping/local_slam_result_data.h" -#include "cartographer/mapping_2d/local_trajectory_builder_options_2d.h" -#include "cartographer/mapping_3d/local_trajectory_builder_options_3d.h" namespace cartographer { namespace mapping { diff --git a/cartographer/metrics/register.cc b/cartographer/metrics/register.cc index 0e690c6..9b7e1a3 100644 --- a/cartographer/metrics/register.cc +++ b/cartographer/metrics/register.cc @@ -16,8 +16,8 @@ #include "cartographer/metrics/register.h" -#include "cartographer/mapping_2d/pose_graph/constraint_builder_2d.h" -#include "cartographer/mapping_3d/pose_graph/constraint_builder_3d.h" +#include "cartographer/mapping/2d/pose_graph/constraint_builder_2d.h" +#include "cartographer/mapping/3d/pose_graph/constraint_builder_3d.h" namespace cartographer { namespace metrics { diff --git a/cartographer/sensor/compressed_point_cloud.cc b/cartographer/sensor/compressed_point_cloud.cc index 63f03d6..8e52f91 100644 --- a/cartographer/sensor/compressed_point_cloud.cc +++ b/cartographer/sensor/compressed_point_cloud.cc @@ -19,7 +19,7 @@ #include #include "cartographer/common/math.h" -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" namespace cartographer { namespace sensor { diff --git a/cartographer/sensor/voxel_filter.h b/cartographer/sensor/voxel_filter.h index da7d192..0470b0b 100644 --- a/cartographer/sensor/voxel_filter.h +++ b/cartographer/sensor/voxel_filter.h @@ -18,7 +18,7 @@ #define CARTOGRAPHER_SENSOR_VOXEL_FILTER_H_ #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer/mapping_3d/hybrid_grid.h" +#include "cartographer/mapping/3d/hybrid_grid.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/proto/adaptive_voxel_filter_options.pb.h" diff --git a/cartographer_grpc/map_builder_context.h b/cartographer_grpc/map_builder_context.h index 411ee05..b9018e9 100644 --- a/cartographer_grpc/map_builder_context.h +++ b/cartographer_grpc/map_builder_context.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H #define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H -#include "cartographer/mapping_2d/submap_2d.h" -#include "cartographer/mapping_3d/submap_3d.h" +#include "cartographer/mapping/2d/submap_2d.h" +#include "cartographer/mapping/3d/submap_3d.h" #include "cartographer_grpc/map_builder_context_interface.h" namespace cartographer_grpc {