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Move mapping_*d to mapping/*d. (#935) 

[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)
master
Alexander Belyaev 2018-02-26 17:40:29 +01:00 committed by GitHub
parent e75e023ce2
commit 3ebfa757ef
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GPG Key ID: 4AEE18F83AFDEB23
131 changed files with 228 additions and 228 deletions
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2
cartographer/internal/mapping_2d/local_trajectory_builder_2d.cc → cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <limits> #include <limits>
#include <memory> #include <memory>

8
cartographer/internal/mapping_2d/local_trajectory_builder_2d.h → cartographer/internal/mapping/2d/local_trajectory_builder_2d.h
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@ -21,11 +21,11 @@
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/internal/mapping/motion_filter.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/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/imu_data.h"
#include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/odometry_data.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"

2
cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function_2d.h → cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h
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@ -19,8 +19,8 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping_2d/probability_grid.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"
#include "ceres/cubic_interpolation.h" #include "ceres/cubic_interpolation.h"

0
cartographer/internal/mapping_3d/acceleration_cost_function_3d.h → cartographer/internal/mapping/3d/acceleration_cost_function_3d.h
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10
cartographer/internal/mapping_3d/local_trajectory_builder_3d.cc → cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc
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@ -14,17 +14,17 @@
* limitations under the License. * 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 <memory> #include <memory>
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/time.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/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" #include "glog/logging.h"
namespace cartographer { namespace cartographer {

8
cartographer/internal/mapping_3d/local_trajectory_builder_3d.h → cartographer/internal/mapping/3d/local_trajectory_builder_3d.h
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@ -21,11 +21,11 @@
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/internal/mapping/motion_filter.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/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/imu_data.h"
#include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/odometry_data.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"

6
cartographer/internal/mapping_3d/local_trajectory_builder_3d_test.cc → cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <memory> #include <memory>
#include <random> #include <random>
@ -22,8 +22,8 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping_3d/local_trajectory_builder_options_3d.h" #include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/rigid_transform_test_helpers.h"

0
cartographer/internal/mapping_3d/rotation_cost_function_3d.h → cartographer/internal/mapping/3d/rotation_cost_function_3d.h
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4
cartographer/internal/mapping_3d/scan_matching/occupied_space_cost_function_3d.h → cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h
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@ -18,8 +18,8 @@
#define CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_ #define CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping_3d/scan_matching/interpolated_grid.h" #include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"

8
cartographer/internal/mapping/global_trajectory_builder.h
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@ -19,12 +19,12 @@
#include <memory> #include <memory>
#include "cartographer/internal/mapping_2d/local_trajectory_builder_2d.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/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/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.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 cartographer {
namespace mapping { namespace mapping {

4
cartographer/io/hybrid_grid_points_processor.cc
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@ -8,8 +8,8 @@
#include "cartographer/io/file_writer.h" #include "cartographer/io/file_writer.h"
#include "cartographer/io/points_batch.h" #include "cartographer/io/points_batch.h"
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping_3d/range_data_inserter_3d.h" #include "cartographer/mapping/3d/range_data_inserter_3d.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "glog/logging.h" #include "glog/logging.h"

6
cartographer/io/hybrid_grid_points_processor.h
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@ -9,9 +9,9 @@
#include "cartographer/io/file_writer.h" #include "cartographer/io/file_writer.h"
#include "cartographer/io/points_batch.h" #include "cartographer/io/points_batch.h"
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping_3d/proto/range_data_inserter_options_3d.pb.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/range_data_inserter_3d.h"
namespace cartographer { namespace cartographer {
namespace io { namespace io {

2
cartographer/io/outlier_removing_points_processor.h
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@ -19,7 +19,7 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
namespace cartographer { namespace cartographer {
namespace io { namespace io {

6
cartographer/io/probability_grid_points_processor.h
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@ -23,10 +23,10 @@
#include "cartographer/io/image.h" #include "cartographer/io/image.h"
#include "cartographer/io/points_batch.h" #include "cartographer/io/points_batch.h"
#include "cartographer/io/points_processor.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/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 cartographer {
namespace io { namespace io {

4
cartographer/io/submap_painter.cc
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@ -16,8 +16,8 @@
#include "cartographer/io/submap_painter.h" #include "cartographer/io/submap_painter.h"
#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping_3d/submap_3d.h" #include "cartographer/mapping/3d/submap_3d.h"
namespace cartographer { namespace cartographer {
namespace io { namespace io {

2
cartographer/io/xray_points_processor.cc
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@ -25,8 +25,8 @@
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/io/draw_trajectories.h" #include "cartographer/io/draw_trajectories.h"
#include "cartographer/io/image.h" #include "cartographer/io/image.h"
#include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping/detect_floors.h" #include "cartographer/mapping/detect_floors.h"
#include "cartographer/mapping_3d/hybrid_grid.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
namespace cartographer { namespace cartographer {

2
cartographer/io/xray_points_processor.h
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@ -23,9 +23,9 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/io/file_writer.h" #include "cartographer/io/file_writer.h"
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping/detect_floors.h" #include "cartographer/mapping/detect_floors.h"
#include "cartographer/mapping/proto/trajectory.pb.h" #include "cartographer/mapping/proto/trajectory.pb.h"
#include "cartographer/mapping_3d/hybrid_grid.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
namespace cartographer { namespace cartographer {

8
cartographer/mapping_2d/local_trajectory_builder_options_2d.cc → cartographer/mapping/2d/local_trajectory_builder_options_2d.cc
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@ -14,12 +14,12 @@
* limitations under the License. * 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/internal/mapping/motion_filter.h"
#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_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/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/sensor/voxel_filter.h" #include "cartographer/sensor/voxel_filter.h"
namespace cartographer { namespace cartographer {

2
cartographer/mapping_2d/local_trajectory_builder_options_2d.h → cartographer/mapping/2d/local_trajectory_builder_options_2d.h
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@ -18,7 +18,7 @@
#define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_ #define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
#include "cartographer/common/lua_parameter_dictionary.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 cartographer {
namespace mapping { namespace mapping {

4
cartographer/mapping_2d/map_limits.h → cartographer/mapping/2d/map_limits.h
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@ -23,9 +23,9 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/math.h" #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/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/point_cloud.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"

2
cartographer/mapping_2d/map_limits_test.cc → cartographer/mapping/2d/map_limits_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/map_limits.h" #include "cartographer/mapping/2d/map_limits.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

12
cartographer/mapping_2d/pose_graph/constraint_builder_2d.cc → cartographer/mapping/2d/pose_graph/constraint_builder_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <cmath> #include <cmath>
#include <functional> #include <functional>
@ -29,8 +29,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/thread_pool.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/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/fast_correlative_scan_matcher_options_2d.pb.h"
#include "cartographer/metrics/counter.h" #include "cartographer/metrics/counter.h"
#include "cartographer/metrics/gauge.h" #include "cartographer/metrics/gauge.h"
#include "cartographer/metrics/histogram.h" #include "cartographer/metrics/histogram.h"
@ -307,7 +307,7 @@ void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) {
void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) { void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
auto* counts = factory->NewCounterFamily( auto* counts = factory->NewCounterFamily(
"/mapping_2d/pose_graph/constraint_builder/constraints", "/mapping/2d/pose_graph/constraint_builder/constraints",
"Constraints computed"); "Constraints computed");
kConstraintsSearchedMetric = kConstraintsSearchedMetric =
counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
@ -318,11 +318,11 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
kGlobalConstraintsFoundMetric = kGlobalConstraintsFoundMetric =
counts->Add({{"search_region", "global"}, {"matcher", "found"}}); counts->Add({{"search_region", "global"}, {"matcher", "found"}});
auto* queue_length = factory->NewGaugeFamily( 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({{}}); kQueueLengthMetric = queue_length->Add({{}});
auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
auto* scores = factory->NewHistogramFamily( auto* scores = factory->NewHistogramFamily(
"/mapping_2d/pose_graph/constraint_builder/scores", "/mapping/2d/pose_graph/constraint_builder/scores",
"Constraint scores built", boundaries); "Constraint scores built", boundaries);
kConstraintScoresMetric = scores->Add({{"search_region", "local"}}); kConstraintScoresMetric = scores->Add({{"search_region", "local"}});
kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}}); kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}});

6
cartographer/mapping_2d/pose_graph/constraint_builder_2d.h → cartographer/mapping/2d/pose_graph/constraint_builder_2d.h
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@ -30,11 +30,11 @@
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.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/proto/constraint_builder_options.pb.h"
#include "cartographer/mapping/pose_graph_interface.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/metrics/family_factory.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/voxel_filter.h" #include "cartographer/sensor/voxel_filter.h"

2
cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h → cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h
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@ -19,9 +19,9 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #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/cost_helpers.h"
#include "cartographer/mapping/pose_graph_interface.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/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"

2
cartographer/mapping_2d/pose_graph/landmark_cost_function_2d_test.cc → cartographer/mapping/2d/pose_graph/landmark_cost_function_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <memory> #include <memory>

6
cartographer/mapping_2d/pose_graph/optimization_problem_2d.cc → cartographer/mapping/2d/pose_graph/optimization_problem_2d.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <array> #include <array>
@ -27,9 +27,9 @@
#include "cartographer/common/ceres_solver_options.h" #include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/histogram.h" #include "cartographer/common/histogram.h"
#include "cartographer/common/math.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/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/sensor/odometry_data.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"

0
cartographer/mapping_2d/pose_graph/optimization_problem_2d.h → cartographer/mapping/2d/pose_graph/optimization_problem_2d.h
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0
cartographer/mapping_2d/pose_graph/spa_cost_function_2d.h → cartographer/mapping/2d/pose_graph/spa_cost_function_2d.h
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2
cartographer/mapping_2d/pose_graph_2d.cc → cartographer/mapping/2d/pose_graph_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/pose_graph_2d.h" #include "cartographer/mapping/2d/pose_graph_2d.h"
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>

6
cartographer/mapping_2d/pose_graph_2d.h → cartographer/mapping/2d/pose_graph_2d.h
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@ -32,12 +32,12 @@
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/common/time.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.h"
#include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/trajectory_connectivity_state.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/fixed_frame_pose_data.h"
#include "cartographer/sensor/landmark_data.h" #include "cartographer/sensor/landmark_data.h"
#include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/odometry_data.h"

6
cartographer/mapping_2d/pose_graph_2d_test.cc → cartographer/mapping/2d/pose_graph_2d_test.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/pose_graph_2d.h" #include "cartographer/mapping/2d/pose_graph_2d.h"
#include <cmath> #include <cmath>
#include <memory> #include <memory>
@ -24,8 +24,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping_2d/range_data_inserter_2d.h" #include "cartographer/mapping/2d/range_data_inserter_2d.h"
#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/rigid_transform_test_helpers.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"

2
cartographer/mapping_2d/probability_grid.cc → cartographer/mapping/2d/probability_grid.cc
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@ -1,4 +1,4 @@
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping/2d/probability_grid.h"
#include <limits> #include <limits>

6
cartographer/mapping_2d/probability_grid.h → cartographer/mapping/2d/probability_grid.h
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@ -20,9 +20,9 @@
#include <vector> #include <vector>
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/mapping_2d/map_limits.h" #include "cartographer/mapping/2d/map_limits.h"
#include "cartographer/mapping_2d/proto/probability_grid.pb.h" #include "cartographer/mapping/2d/proto/probability_grid.pb.h"
#include "cartographer/mapping_2d/xy_index.h" #include "cartographer/mapping/2d/xy_index.h"
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {

2
cartographer/mapping_2d/probability_grid_test.cc → cartographer/mapping/2d/probability_grid_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping/2d/probability_grid.h"
#include <random> #include <random>

0
cartographer/mapping_2d/proto/cell_limits.proto → cartographer/mapping/2d/proto/cell_limits.proto
View File

4
cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto → cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.proto
View File

@ -18,8 +18,8 @@ package cartographer.mapping.proto;
import "cartographer/mapping/proto/motion_filter_options.proto"; import "cartographer/mapping/proto/motion_filter_options.proto";
import "cartographer/sensor/proto/adaptive_voxel_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/proto/submaps_options_2d.proto";
import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_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"; import "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
message LocalTrajectoryBuilderOptions2D { message LocalTrajectoryBuilderOptions2D {

2
cartographer/mapping_2d/proto/map_limits.proto → cartographer/mapping/2d/proto/map_limits.proto
View File

@ -14,7 +14,7 @@
syntax = "proto3"; syntax = "proto3";
import "cartographer/mapping_2d/proto/cell_limits.proto"; import "cartographer/mapping/2d/proto/cell_limits.proto";
import "cartographer/transform/proto/transform.proto"; import "cartographer/transform/proto/transform.proto";
package cartographer.mapping.proto; package cartographer.mapping.proto;

2
cartographer/mapping_2d/proto/probability_grid.proto → cartographer/mapping/2d/proto/probability_grid.proto
View File

@ -14,7 +14,7 @@
syntax = "proto3"; syntax = "proto3";
import "cartographer/mapping_2d/proto/map_limits.proto"; import "cartographer/mapping/2d/proto/map_limits.proto";
package cartographer.mapping.proto; package cartographer.mapping.proto;

0
cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto → cartographer/mapping/2d/proto/range_data_inserter_options_2d.proto
View File

2
cartographer/mapping_2d/proto/submaps_options_2d.proto → cartographer/mapping/2d/proto/submaps_options_2d.proto
View File

@ -14,7 +14,7 @@
syntax = "proto3"; 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; package cartographer.mapping.proto;

6
cartographer/mapping_2d/range_data_inserter_2d.cc → cartographer/mapping/2d/range_data_inserter_2d.cc
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@ -14,15 +14,15 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/range_data_inserter_2d.h" #include "cartographer/mapping/2d/range_data_inserter_2d.h"
#include <cstdlib> #include <cstdlib>
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #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/probability_values.h"
#include "cartographer/mapping_2d/ray_casting.h"
#include "cartographer/mapping_2d/xy_index.h"
#include "glog/logging.h" #include "glog/logging.h"
namespace cartographer { namespace cartographer {

6
cartographer/mapping_2d/range_data_inserter_2d.h → cartographer/mapping/2d/range_data_inserter_2d.h
View File

@ -22,9 +22,9 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h" #include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h"
#include "cartographer/mapping_2d/xy_index.h" #include "cartographer/mapping/2d/xy_index.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"

4
cartographer/mapping_2d/range_data_inserter_2d_test.cc → cartographer/mapping/2d/range_data_inserter_2d_test.cc
View File

@ -14,15 +14,15 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/range_data_inserter_2d.h" #include "cartographer/mapping/2d/range_data_inserter_2d.h"
#include <memory> #include <memory>
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping_2d/probability_grid.h"
#include "gmock/gmock.h" #include "gmock/gmock.h"
namespace cartographer { namespace cartographer {

2
cartographer/mapping_2d/ray_casting.cc → cartographer/mapping/2d/ray_casting.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/ray_casting.h" #include "cartographer/mapping/2d/ray_casting.h"
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {

2
cartographer/mapping_2d/ray_casting.h → cartographer/mapping/2d/ray_casting.h
View File

@ -20,7 +20,7 @@
#include <vector> #include <vector>
#include "cartographer/common/port.h" #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/point_cloud.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"

10
cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.cc → cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 <utility> #include <utility>
#include <vector> #include <vector>
@ -22,10 +22,10 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/ceres_solver_options.h" #include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function_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/probability_grid.h"
#include "cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor_2d.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/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"
#include "glog/logging.h" #include "glog/logging.h"

4
cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h → cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h
View File

@ -22,8 +22,8 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping_2d/probability_grid.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/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"

4
cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d_test.cc → cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc
View File

@ -14,15 +14,15 @@
* limitations under the License. * 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 <memory> #include <memory>
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping_2d/probability_grid.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/rigid_transform_test_helpers.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

2
cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.cc → cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 <cmath> #include <cmath>

4
cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h → cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h
View File

@ -21,8 +21,8 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping_2d/map_limits.h" #include "cartographer/mapping/2d/map_limits.h"
#include "cartographer/mapping_2d/xy_index.h" #include "cartographer/mapping/2d/xy_index.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
namespace cartographer { namespace cartographer {

2
cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc → cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 "cartographer/sensor/point_cloud.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

4
cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.cc → cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
@ -24,7 +24,7 @@
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/math.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/sensor/point_cloud.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "glog/logging.h" #include "glog/logging.h"

6
cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h → cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h
View File

@ -30,10 +30,10 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/port.h" #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/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" #include "cartographer/sensor/point_cloud.h"
namespace cartographer { namespace cartographer {

6
cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc → cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
@ -23,8 +23,8 @@
#include <string> #include <string>
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping_2d/range_data_inserter_2d.h" #include "cartographer/mapping/2d/range_data_inserter_2d.h"
#include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/rigid_transform_test_helpers.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

2
cartographer/mapping_2d/scan_matching/fast_global_localizer.cc → cartographer/mapping/2d/scan_matching/fast_global_localizer.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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" #include "glog/logging.h"

2
cartographer/mapping_2d/scan_matching/fast_global_localizer.h → cartographer/mapping/2d/scan_matching/fast_global_localizer.h
View File

@ -20,7 +20,7 @@
#include <vector> #include <vector>
#include "Eigen/Geometry" #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" #include "cartographer/sensor/voxel_filter.h"
namespace cartographer { namespace cartographer {

0
cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto → cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto
View File

0
cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto → cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto
View File

4
cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.cc → cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
View File

@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
@ -24,7 +24,7 @@
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/common/math.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/sensor/point_cloud.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "glog/logging.h" #include "glog/logging.h"

4
cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h → cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
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@ -41,10 +41,10 @@
#include <vector> #include <vector>
#include "Eigen/Core" #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/proto/real_time_correlative_scan_matcher_options.pb.h"
#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.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 cartographer {
namespace mapping { namespace mapping {

6
cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc → cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <cmath> #include <cmath>
#include <memory> #include <memory>
@ -22,8 +22,8 @@
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping_2d/range_data_inserter_2d.h" #include "cartographer/mapping/2d/range_data_inserter_2d.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

0
cartographer/mapping_2d/scan_matching/rotation_delta_cost_functor_2d.h → cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h
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0
cartographer/mapping_2d/scan_matching/translation_delta_cost_functor_2d.h → cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h
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2
cartographer/mapping_2d/submap_2d.cc → cartographer/mapping/2d/submap_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/mapping/2d/submap_2d.h"
#include <cinttypes> #include <cinttypes>
#include <cmath> #include <cmath>

8
cartographer/mapping_2d/submap_2d.h → cartographer/mapping/2d/submap_2d.h
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@ -22,14 +22,14 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h" #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/serialization.pb.h"
#include "cartographer/mapping/proto/submap_visualization.pb.h" #include "cartographer/mapping/proto/submap_visualization.pb.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping/trajectory_node.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/sensor/range_data.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"

2
cartographer/mapping_2d/submap_2d_test.cc → cartographer/mapping/2d/submap_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/submap_2d.h" #include "cartographer/mapping/2d/submap_2d.h"
#include <map> #include <map>
#include <memory> #include <memory>

2
cartographer/mapping_2d/xy_index.h → cartographer/mapping/2d/xy_index.h
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@ -25,7 +25,7 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/port.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" #include "glog/logging.h"
namespace cartographer { namespace cartographer {

2
cartographer/mapping_2d/xy_index_test.cc → cartographer/mapping/2d/xy_index_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_2d/xy_index.h" #include "cartographer/mapping/2d/xy_index.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

2
cartographer/mapping_3d/hybrid_grid.h → cartographer/mapping/3d/hybrid_grid.h
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@ -27,8 +27,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "cartographer/mapping/3d/proto/hybrid_grid.pb.h"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"
#include "cartographer/mapping_3d/proto/hybrid_grid.pb.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "glog/logging.h" #include "glog/logging.h"

2
cartographer/mapping_3d/hybrid_grid_test.cc → cartographer/mapping/3d/hybrid_grid_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
#include <map> #include <map>
#include <random> #include <random>

0
cartographer/mapping_3d/imu_integration.h → cartographer/mapping/3d/imu_integration.h
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6
cartographer/mapping_3d/local_trajectory_builder_options_3d.cc → cartographer/mapping/3d/local_trajectory_builder_options_3d.cc
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@ -14,12 +14,12 @@
* limitations under the License. * 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/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/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 "cartographer/sensor/voxel_filter.h"
#include "glog/logging.h" #include "glog/logging.h"

2
cartographer/mapping_3d/local_trajectory_builder_options_3d.h → cartographer/mapping/3d/local_trajectory_builder_options_3d.h
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@ -18,7 +18,7 @@
#define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_ #define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
#include "cartographer/common/lua_parameter_dictionary.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 cartographer {
namespace mapping { namespace mapping {

12
cartographer/mapping_3d/pose_graph/constraint_builder_3d.cc → cartographer/mapping/3d/pose_graph/constraint_builder_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <cmath> #include <cmath>
#include <functional> #include <functional>
@ -29,8 +29,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/thread_pool.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/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/fast_correlative_scan_matcher_options_3d.pb.h"
#include "cartographer/metrics/counter.h" #include "cartographer/metrics/counter.h"
#include "cartographer/metrics/gauge.h" #include "cartographer/metrics/gauge.h"
#include "cartographer/metrics/histogram.h" #include "cartographer/metrics/histogram.h"
@ -340,7 +340,7 @@ void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) {
void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) { void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
auto* counts = factory->NewCounterFamily( auto* counts = factory->NewCounterFamily(
"/mapping_3d/pose_graph/constraint_builder/constraints", "/mapping/3d/pose_graph/constraint_builder/constraints",
"Constraints computed"); "Constraints computed");
kConstraintsSearchedMetric = kConstraintsSearchedMetric =
counts->Add({{"search_region", "local"}, {"matcher", "searched"}}); counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
@ -351,11 +351,11 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
kGlobalConstraintsFoundMetric = kGlobalConstraintsFoundMetric =
counts->Add({{"search_region", "global"}, {"matcher", "found"}}); counts->Add({{"search_region", "global"}, {"matcher", "found"}});
auto* queue_length = factory->NewGaugeFamily( 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({{}}); kQueueLengthMetric = queue_length->Add({{}});
auto boundaries = metrics::Histogram::FixedWidth(0.05, 20); auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
auto* scores = factory->NewHistogramFamily( auto* scores = factory->NewHistogramFamily(
"/mapping_3d/pose_graph/constraint_builder/scores", "/mapping/3d/pose_graph/constraint_builder/scores",
"Constraint scores built", boundaries); "Constraint scores built", boundaries);
kConstraintScoresMetric = kConstraintScoresMetric =
scores->Add({{"search_region", "local"}, {"kind", "score"}}); scores->Add({{"search_region", "local"}, {"kind", "score"}});

6
cartographer/mapping_3d/pose_graph/constraint_builder_3d.h → cartographer/mapping/3d/pose_graph/constraint_builder_3d.h
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@ -31,12 +31,12 @@
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.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/proto/constraint_builder_options.pb.h"
#include "cartographer/mapping/pose_graph_interface.h" #include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/mapping/trajectory_node.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/metrics/family_factory.h"
#include "cartographer/sensor/compressed_point_cloud.h" #include "cartographer/sensor/compressed_point_cloud.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"

2
cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h → cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h
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@ -19,9 +19,9 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "Eigen/Geometry" #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/cost_helpers.h"
#include "cartographer/mapping/pose_graph_interface.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/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"

2
cartographer/mapping_3d/pose_graph/landmark_cost_function_3d_test.cc → cartographer/mapping/3d/pose_graph/landmark_cost_function_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <memory> #include <memory>

14
cartographer/mapping_3d/pose_graph/optimization_problem_3d.cc → cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <array> #include <array>
@ -30,13 +30,13 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/internal/mapping_3d/acceleration_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/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/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/timestamped_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"

0
cartographer/mapping_3d/pose_graph/optimization_problem_3d.h → cartographer/mapping/3d/pose_graph/optimization_problem_3d.h
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2
cartographer/mapping_3d/pose_graph/optimization_problem_3d_test.cc → cartographer/mapping/3d/pose_graph/optimization_problem_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <random> #include <random>

0
cartographer/mapping_3d/pose_graph/spa_cost_function_3d.h → cartographer/mapping/3d/pose_graph/spa_cost_function_3d.h
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2
cartographer/mapping_3d/pose_graph_3d.cc → cartographer/mapping/3d/pose_graph_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/pose_graph_3d.h" #include "cartographer/mapping/3d/pose_graph_3d.h"
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>

6
cartographer/mapping_3d/pose_graph_3d.h → cartographer/mapping/3d/pose_graph_3d.h
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@ -32,12 +32,12 @@
#include "cartographer/common/mutex.h" #include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/common/time.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.h"
#include "cartographer/mapping/pose_graph_trimmer.h" #include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/trajectory_connectivity_state.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/fixed_frame_pose_data.h"
#include "cartographer/sensor/landmark_data.h" #include "cartographer/sensor/landmark_data.h"
#include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/odometry_data.h"

0
cartographer/mapping_3d/proto/hybrid_grid.proto → cartographer/mapping/3d/proto/hybrid_grid.proto
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4
cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.proto → cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.proto
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@ -19,8 +19,8 @@ package cartographer.mapping.proto;
import "cartographer/mapping/proto/motion_filter_options.proto"; import "cartographer/mapping/proto/motion_filter_options.proto";
import "cartographer/sensor/proto/adaptive_voxel_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/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
import "cartographer/mapping_3d/proto/submaps_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"; import "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto";
// NEXT ID: 18 // NEXT ID: 18
message LocalTrajectoryBuilderOptions3D { message LocalTrajectoryBuilderOptions3D {

0
cartographer/mapping_3d/proto/range_data_inserter_options_3d.proto → cartographer/mapping/3d/proto/range_data_inserter_options_3d.proto
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2
cartographer/mapping_3d/proto/submaps_options_3d.proto → cartographer/mapping/3d/proto/submaps_options_3d.proto
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@ -14,7 +14,7 @@
syntax = "proto3"; 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; package cartographer.mapping.proto;

2
cartographer/mapping_3d/range_data_inserter_3d.cc → cartographer/mapping/3d/range_data_inserter_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 "Eigen/Core"
#include "cartographer/mapping/probability_values.h" #include "cartographer/mapping/probability_values.h"

4
cartographer/mapping_3d/range_data_inserter_3d.h → cartographer/mapping/3d/range_data_inserter_3d.h
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@ -17,8 +17,8 @@
#ifndef CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_ #ifndef CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_
#define 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/hybrid_grid.h"
#include "cartographer/mapping_3d/proto/range_data_inserter_options_3d.pb.h" #include "cartographer/mapping/3d/proto/range_data_inserter_options_3d.pb.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/sensor/range_data.h" #include "cartographer/sensor/range_data.h"

2
cartographer/mapping_3d/range_data_inserter_3d_test.cc → cartographer/mapping/3d/range_data_inserter_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * limitations under the License.
*/ */
#include "cartographer/mapping_3d/range_data_inserter_3d.h" #include "cartographer/mapping/3d/range_data_inserter_3d.h"
#include <memory> #include <memory>
#include <vector> #include <vector>

0
cartographer/mapping_3d/rotation_parameterization.h → cartographer/mapping/3d/rotation_parameterization.h
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10
cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.cc → cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <string> #include <string>
#include <utility> #include <utility>
@ -22,11 +22,11 @@
#include "cartographer/common/ceres_solver_options.h" #include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/make_unique.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/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/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "ceres/ceres.h" #include "ceres/ceres.h"

4
cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h → cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h
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@ -22,8 +22,8 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping_3d/hybrid_grid.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/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
#include "cartographer/sensor/point_cloud.h" #include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"

4
cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d_test.cc → cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc
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@ -14,13 +14,13 @@
* limitations under the License. * 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 <memory> #include <memory>
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #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/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/rigid_transform_test_helpers.h" #include "cartographer/transform/rigid_transform_test_helpers.h"

8
cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.cc → cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
@ -24,9 +24,9 @@
#include "Eigen/Geometry" #include "Eigen/Geometry"
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h" #include "cartographer/common/math.h"
#include "cartographer/mapping_3d/scan_matching/low_resolution_matcher.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/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/proto/fast_correlative_scan_matcher_options_3d.pb.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "glog/logging.h" #include "glog/logging.h"

8
cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h → cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h
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@ -25,11 +25,11 @@
#include "Eigen/Core" #include "Eigen/Core"
#include "cartographer/common/port.h" #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/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" #include "cartographer/sensor/point_cloud.h"
namespace cartographer { namespace cartographer {

4
cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc → cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 <algorithm> #include <algorithm>
#include <cmath> #include <cmath>
@ -23,7 +23,7 @@
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/common/make_unique.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/rigid_transform_test_helpers.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"

2
cartographer/mapping_3d/scan_matching/interpolated_grid.h → cartographer/mapping/3d/scan_matching/interpolated_grid.h
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@ -19,7 +19,7 @@
#include <cmath> #include <cmath>
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
namespace cartographer { namespace cartographer {
namespace mapping { namespace mapping {

4
cartographer/mapping_3d/scan_matching/interpolated_grid_test.cc → cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc
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@ -14,10 +14,10 @@
* limitations under the License. * 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 "Eigen/Core"
#include "cartographer/mapping_3d/hybrid_grid.h" #include "cartographer/mapping/3d/hybrid_grid.h"
#include "gtest/gtest.h" #include "gtest/gtest.h"
namespace cartographer { namespace cartographer {

2
cartographer/mapping_3d/scan_matching/low_resolution_matcher.cc → cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc
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@ -14,7 +14,7 @@
* limitations under the License. * 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 cartographer {
namespace mapping { namespace mapping {

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