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Move pose_graph_*d related files to internal/. (#976) 

[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
master
Alexander Belyaev 2018-03-12 12:42:52 +01:00 committed by GitHub
parent 091a4f852d
commit 418e0964bf
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
40 changed files with 93 additions and 93 deletions
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4
cartographer/cloud/internal/map_builder_context.cc
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@ -17,8 +17,8 @@
#include "cartographer/cloud/internal/map_builder_context.h"
#include "cartographer/cloud/internal/map_builder_server.h"
#include "cartographer/mapping/2d/local_slam_result_2d.h"
#include "cartographer/mapping/3d/local_slam_result_3d.h"
#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
#include "cartographer/mapping/internal/3d/local_slam_result_3d.h"
namespace cartographer {
namespace cloud {

2
cartographer/mapping/2d/range_data_inserter_2d.cc
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@ -20,8 +20,8 @@
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/mapping/2d/ray_casting.h"
#include "cartographer/mapping/2d/xy_index.h"
#include "cartographer/mapping/internal/2d/ray_casting.h"
#include "cartographer/mapping/probability_values.h"
#include "glog/logging.h"

2
cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
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@ -22,9 +22,9 @@
#include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/make_unique.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/internal/3d/rotation_parameterization.h"
#include "cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h"
#include "cartographer/mapping/pose_graph/ceres_pose.h"
#include "cartographer/transform/rigid_transform.h"

4
cartographer/mapping/2d/local_slam_result_2d.cc → cartographer/mapping/internal/2d/local_slam_result_2d.cc
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/local_slam_result_2d.h"
#include "cartographer/mapping/2d/pose_graph_2d.h"
#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
namespace cartographer {
namespace mapping {

6
cartographer/mapping/2d/local_slam_result_2d.h → cartographer/mapping/internal/2d/local_slam_result_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_LOCAL_SLAM_RESULT_2D_H_
#define CARTOGRAPHER_MAPPING_2D_LOCAL_SLAM_RESULT_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
#include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/local_slam_result_data.h"
@ -46,4 +46,4 @@ class LocalSlamResult2D : public LocalSlamResultData {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_LOCAL_SLAM_RESULT_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_

2
cartographer/mapping/2d/local_trajectory_builder_options_2d.cc → cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/local_trajectory_builder_options_2d.h"
#include "cartographer/mapping/internal/2d/local_trajectory_builder_options_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"

6
cartographer/mapping/2d/local_trajectory_builder_options_2d.h → cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
#define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_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"
@ -29,4 +29,4 @@ proto::LocalTrajectoryBuilderOptions2D CreateLocalTrajectoryBuilderOptions2D(
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_

2
cartographer/mapping/2d/pose_graph/constraint_builder_2d.cc → cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/pose_graph/constraint_builder_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h"
#include <cmath>
#include <functional>

6
cartographer/mapping/2d/pose_graph/constraint_builder_2d.h → cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
#include <array>
#include <deque>
@ -181,4 +181,4 @@ class ConstraintBuilder2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_

8
cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h → cartographer/mapping/internal/2d/pose_graph/landmark_cost_function_2d.h
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@ -14,12 +14,12 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_2D_H_
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_2D_H_
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/optimization_problem_2d.h"
#include "cartographer/mapping/pose_graph/cost_helpers.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/transform/rigid_transform.h"
@ -124,4 +124,4 @@ class LandmarkCostFunction2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_LANDMARK_COST_FUNCTION_2D_H_

2
cartographer/mapping/2d/pose_graph/landmark_cost_function_2d_test.cc → cartographer/mapping/internal/2d/pose_graph/landmark_cost_function_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/landmark_cost_function_2d.h"
#include <memory>

6
cartographer/mapping/2d/pose_graph/optimization_problem_2d.cc → cartographer/mapping/internal/2d/pose_graph/optimization_problem_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/optimization_problem_2d.h"
#include <algorithm>
#include <array>
@ -27,8 +27,8 @@
#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/internal/2d/pose_graph/landmark_cost_function_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/spa_cost_function_2d.h"
#include "cartographer/mapping/pose_graph/ceres_pose.h"
#include "cartographer/sensor/odometry_data.h"
#include "cartographer/transform/transform.h"

6
cartographer/mapping/2d/pose_graph/optimization_problem_2d.h → cartographer/mapping/internal/2d/pose_graph/optimization_problem_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
#include <array>
#include <deque>
@ -114,4 +114,4 @@ class OptimizationProblem2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_OPTIMIZATION_PROBLEM_2D_H_

6
cartographer/mapping/2d/pose_graph/spa_cost_function_2d.h → cartographer/mapping/internal/2d/pose_graph/spa_cost_function_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
#include <array>
@ -66,4 +66,4 @@ class SpaCostFunction2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_SPA_COST_FUNCTION_2D_H_

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

10
cartographer/mapping/2d/pose_graph_2d.h → cartographer/mapping/internal/2d/pose_graph_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_2D_H_
#define CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_2D_H_
#include <deque>
#include <functional>
@ -32,9 +32,9 @@
#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/internal/2d/pose_graph/constraint_builder_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/optimization_problem_2d.h"
#include "cartographer/mapping/pose_graph.h"
#include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/trajectory_connectivity_state.h"
@ -284,4 +284,4 @@ class PoseGraph2D : public PoseGraph {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_POSE_GRAPH_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_2D_H_

2
cartographer/mapping/2d/pose_graph_2d_test.cc → cartographer/mapping/internal/2d/pose_graph_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/pose_graph_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
#include <cmath>
#include <memory>

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

6
cartographer/mapping/2d/ray_casting.h → cartographer/mapping/internal/2d/ray_casting.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_RAY_CASTING_H_
#define CARTOGRAPHER_MAPPING_2D_RAY_CASTING_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_CASTING_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_CASTING_H_
#include <vector>
@ -38,4 +38,4 @@ void CastRays(const sensor::RangeData& range_data,
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_RAY_CASTING_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_RAY_CASTING_H_

6
cartographer/mapping/3d/imu_integration.h → cartographer/mapping/internal/3d/imu_integration.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_IMU_INTEGRATION_H_
#define CARTOGRAPHER_MAPPING_3D_IMU_INTEGRATION_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_IMU_INTEGRATION_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_IMU_INTEGRATION_H_
#include <algorithm>
#include <deque>
@ -95,4 +95,4 @@ IntegrateImuResult<double> IntegrateImu(const RangeType& imu_data,
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_IMU_INTEGRATION_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_IMU_INTEGRATION_H_

4
cartographer/mapping/3d/local_slam_result_3d.cc → cartographer/mapping/internal/3d/local_slam_result_3d.cc
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/local_slam_result_3d.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
#include "cartographer/mapping/internal/3d/local_slam_result_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
namespace cartographer {
namespace mapping {

6
cartographer/mapping/3d/local_slam_result_3d.h → cartographer/mapping/internal/3d/local_slam_result_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_LOCAL_SLAM_RESULT_3D_H_
#define CARTOGRAPHER_MAPPING_3D_LOCAL_SLAM_RESULT_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_SLAM_RESULT_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_SLAM_RESULT_3D_H_
#include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/local_slam_result_data.h"
@ -46,4 +46,4 @@ class LocalSlamResult3D : public LocalSlamResultData {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_LOCAL_SLAM_RESULT_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_SLAM_RESULT_3D_H_

2
cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
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@ -23,7 +23,7 @@
#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/internal/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"

2
cartographer/mapping/3d/local_trajectory_builder_options_3d.cc → cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h"
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/3d/submap_3d.h"

6
cartographer/mapping/3d/local_trajectory_builder_options_3d.h → cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
#define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_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"
@ -29,4 +29,4 @@ proto::LocalTrajectoryBuilderOptions3D CreateLocalTrajectoryBuilderOptions3D(
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_

2
cartographer/mapping/3d/pose_graph/constraint_builder_3d.cc → cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/pose_graph/constraint_builder_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h"
#include <cmath>
#include <functional>

6
cartographer/mapping/3d/pose_graph/constraint_builder_3d.h → cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
#include <array>
#include <deque>
@ -195,4 +195,4 @@ class ConstraintBuilder3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_

8
cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h → cartographer/mapping/internal/3d/pose_graph/landmark_cost_function_3d.h
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@ -14,12 +14,12 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_3D_H_
#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_3D_H_
#include "Eigen/Core"
#include "Eigen/Geometry"
#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/optimization_problem_3d.h"
#include "cartographer/mapping/pose_graph/cost_helpers.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/transform/rigid_transform.h"
@ -105,4 +105,4 @@ class LandmarkCostFunction3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_LANDMARK_COST_FUNCTION_3D_H_

2
cartographer/mapping/3d/pose_graph/landmark_cost_function_3d_test.cc → cartographer/mapping/internal/3d/pose_graph/landmark_cost_function_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/landmark_cost_function_3d.h"
#include <memory>

10
cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc → cartographer/mapping/internal/3d/pose_graph/optimization_problem_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/optimization_problem_3d.h"
#include <algorithm>
#include <array>
@ -30,12 +30,12 @@
#include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h"
#include "cartographer/common/time.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/internal/3d/acceleration_cost_function_3d.h"
#include "cartographer/mapping/internal/3d/imu_integration.h"
#include "cartographer/mapping/internal/3d/pose_graph/landmark_cost_function_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/spa_cost_function_3d.h"
#include "cartographer/mapping/internal/3d/rotation_cost_function_3d.h"
#include "cartographer/mapping/internal/3d/rotation_parameterization.h"
#include "cartographer/mapping/pose_graph/ceres_pose.h"
#include "cartographer/transform/timestamped_transform.h"
#include "cartographer/transform/transform.h"

6
cartographer/mapping/3d/pose_graph/optimization_problem_3d.h → cartographer/mapping/internal/3d/pose_graph/optimization_problem_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_3D_H_
#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_3D_H_
#include <array>
#include <map>
@ -125,4 +125,4 @@ class OptimizationProblem3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_OPTIMIZATION_PROBLEM_3D_H_

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

6
cartographer/mapping/3d/pose_graph/spa_cost_function_3d.h → cartographer/mapping/internal/3d/pose_graph/spa_cost_function_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_3D_H_
#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_SPA_COST_FUNCTION_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_SPA_COST_FUNCTION_3D_H_
#include <array>
@ -66,4 +66,4 @@ class SpaCostFunction3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_SPA_COST_FUNCTION_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_SPA_COST_FUNCTION_3D_H_

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

10
cartographer/mapping/3d/pose_graph_3d.h → cartographer/mapping/internal/3d/pose_graph_3d.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_3D_H_
#define CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_3D_H_
#include <deque>
#include <functional>
@ -32,9 +32,9 @@
#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/internal/3d/pose_graph/constraint_builder_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/optimization_problem_3d.h"
#include "cartographer/mapping/pose_graph.h"
#include "cartographer/mapping/pose_graph_trimmer.h"
#include "cartographer/mapping/trajectory_connectivity_state.h"
@ -288,4 +288,4 @@ class PoseGraph3D : public PoseGraph {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_POSE_GRAPH_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_3D_H_

6
cartographer/mapping/3d/rotation_parameterization.h → cartographer/mapping/internal/3d/rotation_parameterization.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
#define CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_ROTATION_PARAMETERIZATION_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_ROTATION_PARAMETERIZATION_H_
#include "cartographer/common/math.h"
#include "ceres/jet.h"
@ -64,4 +64,4 @@ struct ConstantYawQuaternionPlus {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_ROTATION_PARAMETERIZATION_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_ROTATION_PARAMETERIZATION_H_

4
cartographer/mapping/internal/global_trajectory_builder.h
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@ -19,10 +19,10 @@
#include <memory>
#include "cartographer/mapping/2d/pose_graph_2d.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h"

4
cartographer/mapping/map_builder.cc
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@ -24,11 +24,11 @@
#include "cartographer/common/make_unique.h"
#include "cartographer/common/time.h"
#include "cartographer/mapping/2d/pose_graph_2d.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
#include "cartographer/mapping/collated_trajectory_builder.h"
#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph_3d.h"
#include "cartographer/mapping/internal/global_trajectory_builder.h"
#include "cartographer/sensor/collator.h"
#include "cartographer/sensor/range_data.h"

4
cartographer/mapping/trajectory_builder_interface.cc
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@ -16,8 +16,8 @@
#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/internal/2d/local_trajectory_builder_options_2d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h"
#include "cartographer/mapping/local_slam_result_data.h"
namespace cartographer {

4
cartographer/metrics/register.cc
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@ -16,10 +16,10 @@
#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/internal/2d/local_trajectory_builder_2d.h"
#include "cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
#include "cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h"
namespace cartographer {
namespace metrics {