[ABSL] Purge common::optional. (#1339)

cartographer/BUILD.bazel

@@ -95,12 +95,12 @@ cc_library(
     deps = [
         ":cc_protos",
         "@boost//:iostreams",
+        "@com_google_absl//absl/types:optional",
         "@com_google_glog//:glog",
         "@org_cairographics_cairo//:cairo",
         "@org_ceres_solver_ceres_solver//:ceres",
         "@org_lua_lua//:lua",
         "@org_tuxfamily_eigen//:eigen",
-        "@com_google_absl//absl/strings",
     ],
 )
 

cartographer/cloud/internal/client/pose_graph_stub.cc

@@ -93,7 +93,7 @@ PoseGraphStub::GetTrajectoryNodePoses() const {
   CHECK(client.Write(request));
   mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose> node_poses;
   for (const auto& node_pose : client.response().node_poses()) {
-    common::optional<mapping::TrajectoryNodePose::ConstantPoseData>
+    absl::optional<mapping::TrajectoryNodePose::ConstantPoseData>
         constant_pose_data;
     if (node_pose.has_constant_pose_data()) {
       constant_pose_data = mapping::TrajectoryNodePose::ConstantPoseData{

cartographer/cloud/internal/handlers/receive_global_slam_optimizations_handler.h

@@ -39,7 +39,7 @@ class ReceiveGlobalSlamOptimizationsHandler
   void OnFinish() override;
 
  private:
-  common::optional<int> subscription_index_;
+  absl::optional<int> subscription_index_;
 };
 
 }  // namespace handlers

cartographer/common/optional.h

@@ -1,69 +0,0 @@
-/*
- * Copyright 2017 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#ifndef CARTOGRAPHER_COMMON_OPTIONAL_H_
-#define CARTOGRAPHER_COMMON_OPTIONAL_H_
-
-#include <memory>
-
-#include "cartographer/common/make_unique.h"
-#include "glog/logging.h"
-
-namespace cartographer {
-namespace common {
-
-template <class T>
-class optional {
- public:
-  optional() {}
-
-  optional(const optional& other) {
-    if (other.has_value()) {
-      value_ = common::make_unique<T>(other.value());
-    }
-  }
-
-  explicit optional(const T& value) { value_ = common::make_unique<T>(value); }
-
-  bool has_value() const { return value_ != nullptr; }
-
-  const T& value() const {
-    CHECK(value_ != nullptr);
-    return *value_;
-  }
-
-  optional<T>& operator=(const T& other_value) {
-    this->value_ = common::make_unique<T>(other_value);
-    return *this;
-  }
-
-  optional<T>& operator=(const optional<T>& other) {
-    if (!other.has_value()) {
-      this->value_ = nullptr;
-    } else {
-      this->value_ = common::make_unique<T>(other.value());
-    }
-    return *this;
-  }
-
- private:
-  std::unique_ptr<T> value_;
-};
-
-}  // namespace common
-}  // namespace cartographer
-
-#endif  // CARTOGRAPHER_COMMON_OPTIONAL_H_

cartographer/common/optional_test.cc

@@ -1,63 +0,0 @@
-/*
- * Copyright 2017 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "cartographer/common/optional.h"
-
-#include "gtest/gtest.h"
-
-namespace cartographer {
-namespace common {
-namespace {
-
-TEST(OptionalTest, CreateDisengagedObject) {
-  const optional<int> o;
-  EXPECT_FALSE(o.has_value());
-  const optional<float> x;
-  EXPECT_FALSE(x.has_value());
-}
-
-TEST(OptionalTest, CreateWithValue) {
-  const optional<int> a(5);
-  EXPECT_TRUE(a.has_value());
-  EXPECT_EQ(5, a.value());
-}
-
-TEST(OptionalTest, CreateFromOtherOptional) {
-  const optional<int> a(5);
-  const optional<int> b = a;
-  EXPECT_TRUE(a.has_value());
-  EXPECT_TRUE(b.has_value());
-  EXPECT_EQ(5, a.value());
-  EXPECT_EQ(5, b.value());
-}
-
-TEST(OptionalTest, AssignmentOperator) {
-  optional<int> a(5);
-  optional<int> b(4);
-  optional<int> c;
-  a = b;
-  EXPECT_TRUE(a.has_value());
-  EXPECT_EQ(4, a.value());
-  a = c;
-  EXPECT_FALSE(a.has_value());
-  a = 3;
-  EXPECT_TRUE(a.has_value());
-  EXPECT_EQ(3, a.value());
-}
-
-}  // namespace
-}  // namespace common
-}  // namespace cartographer

cartographer/mapping/2d/tsdf_2d.cc

@@ -16,6 +16,8 @@
 
 #include "cartographer/mapping/2d/tsdf_2d.h"
 
+#include "cartographer/common/make_unique.h"
+
 namespace cartographer {
 namespace mapping {
 

cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc

@@ -187,7 +187,7 @@ LocalTrajectoryBuilder2D::AddRangeData(
 
   if (num_accumulated_ >= options_.num_accumulated_range_data()) {
     const common::Time current_sensor_time = synchronized_data.time;
-    common::optional<common::Duration> sensor_duration;
+    absl::optional<common::Duration> sensor_duration;
     if (last_sensor_time_.has_value()) {
       sensor_duration = current_sensor_time - last_sensor_time_.value();
     }
@@ -213,7 +213,7 @@ LocalTrajectoryBuilder2D::AddAccumulatedRangeData(
     const common::Time time,
     const sensor::RangeData& gravity_aligned_range_data,
     const transform::Rigid3d& gravity_alignment,
-    const common::optional<common::Duration>& sensor_duration) {
+    const absl::optional<common::Duration>& sensor_duration) {
   if (gravity_aligned_range_data.returns.empty()) {
     LOG(WARNING) << "Dropped empty horizontal range data.";
     return nullptr;

cartographer/mapping/internal/2d/local_trajectory_builder_2d.h

@@ -80,7 +80,7 @@ class LocalTrajectoryBuilder2D {
   std::unique_ptr<MatchingResult> AddAccumulatedRangeData(
       common::Time time, const sensor::RangeData& gravity_aligned_range_data,
       const transform::Rigid3d& gravity_alignment,
-      const common::optional<common::Duration>& sensor_duration);
+      const absl::optional<common::Duration>& sensor_duration);
   sensor::RangeData TransformToGravityAlignedFrameAndFilter(
       const transform::Rigid3f& transform_to_gravity_aligned_frame,
       const sensor::RangeData& range_data) const;
@@ -112,9 +112,9 @@ class LocalTrajectoryBuilder2D {
   int num_accumulated_ = 0;
   sensor::RangeData accumulated_range_data_;
 
-  common::optional<std::chrono::steady_clock::time_point> last_wall_time_;
+  absl::optional<std::chrono::steady_clock::time_point> last_wall_time_;
-  common::optional<double> last_thread_cpu_time_seconds_;
+  absl::optional<double> last_thread_cpu_time_seconds_;
-  common::optional<common::Time> last_sensor_time_;
+  absl::optional<common::Time> last_sensor_time_;
 
   RangeDataCollator range_data_collator_;
 };

cartographer/mapping/internal/2d/pose_graph_2d.cc

@@ -845,7 +845,7 @@ MapById<NodeId, TrajectoryNodePose> PoseGraph2D::GetTrajectoryNodePoses()
   MapById<NodeId, TrajectoryNodePose> node_poses;
   common::MutexLocker locker(&mutex_);
   for (const auto& node_id_data : data_.trajectory_nodes) {
-    common::optional<TrajectoryNodePose::ConstantPoseData> constant_pose_data;
+    absl::optional<TrajectoryNodePose::ConstantPoseData> constant_pose_data;
     if (node_id_data.data.constant_data != nullptr) {
       constant_pose_data = TrajectoryNodePose::ConstantPoseData{
           node_id_data.data.constant_data->time,

cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc

@@ -198,7 +198,7 @@ LocalTrajectoryBuilder3D::AddRangeData(
   ++num_accumulated_;
 
   if (num_accumulated_ >= options_.num_accumulated_range_data()) {
-    common::optional<common::Duration> sensor_duration;
+    absl::optional<common::Duration> sensor_duration;
     if (last_sensor_time_.has_value()) {
       sensor_duration = current_sensor_time - last_sensor_time_.value();
     }
@@ -237,7 +237,7 @@ std::unique_ptr<LocalTrajectoryBuilder3D::MatchingResult>
 LocalTrajectoryBuilder3D::AddAccumulatedRangeData(
     const common::Time time,
     const sensor::RangeData& filtered_range_data_in_tracking,
-    const common::optional<common::Duration>& sensor_duration) {
+    const absl::optional<common::Duration>& sensor_duration) {
   if (filtered_range_data_in_tracking.returns.empty()) {
     LOG(WARNING) << "Dropped empty range data.";
     return nullptr;

cartographer/mapping/internal/3d/local_trajectory_builder_3d.h

@@ -78,7 +78,7 @@ class LocalTrajectoryBuilder3D {
   std::unique_ptr<MatchingResult> AddAccumulatedRangeData(
       common::Time time,
       const sensor::RangeData& filtered_range_data_in_tracking,
-      const common::optional<common::Duration>& sensor_duration);
+      const absl::optional<common::Duration>& sensor_duration);
 
   std::unique_ptr<InsertionResult> InsertIntoSubmap(
       common::Time time, const sensor::RangeData& filtered_range_data_in_local,
@@ -107,13 +107,13 @@ class LocalTrajectoryBuilder3D {
 
   int num_accumulated_ = 0;
   sensor::RangeData accumulated_range_data_;
-  common::optional<std::chrono::steady_clock::time_point> last_wall_time_;
+  absl::optional<std::chrono::steady_clock::time_point> last_wall_time_;
 
-  common::optional<double> last_thread_cpu_time_seconds_;
+  absl::optional<double> last_thread_cpu_time_seconds_;
 
   RangeDataCollator range_data_collator_;
 
-  common::optional<common::Time> last_sensor_time_;
+  absl::optional<common::Time> last_sensor_time_;
 };
 
 }  // namespace mapping

cartographer/mapping/internal/3d/pose_graph_3d.cc

@@ -888,7 +888,7 @@ MapById<NodeId, TrajectoryNodePose> PoseGraph3D::GetTrajectoryNodePoses()
   MapById<NodeId, TrajectoryNodePose> node_poses;
   common::MutexLocker locker(&mutex_);
   for (const auto& node_id_data : data_.trajectory_nodes) {
-    common::optional<TrajectoryNodePose::ConstantPoseData> constant_pose_data;
+    absl::optional<TrajectoryNodePose::ConstantPoseData> constant_pose_data;
     if (node_id_data.data.constant_data != nullptr) {
       constant_pose_data = TrajectoryNodePose::ConstantPoseData{
           node_id_data.data.constant_data->time,

cartographer/mapping/internal/optimization/optimization_problem_3d.h

@@ -24,7 +24,7 @@
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
-#include "cartographer/common/optional.h"
+#include "absl/types/optional.h"
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/id.h"

cartographer/mapping/pose_graph_interface.h

@@ -20,7 +20,7 @@
 #include <chrono>
 #include <vector>
 
-#include "cartographer/common/optional.h"
+#include "absl/types/optional.h"
 #include "cartographer/mapping/id.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/transform/rigid_transform.h"
@@ -61,7 +61,7 @@ class PoseGraphInterface {
       double rotation_weight;
     };
     std::vector<LandmarkObservation> landmark_observations;
-    common::optional<transform::Rigid3d> global_landmark_pose;
+    absl::optional<transform::Rigid3d> global_landmark_pose;
   };
 
   struct SubmapPose {
@@ -77,7 +77,7 @@ class PoseGraphInterface {
   struct TrajectoryData {
     double gravity_constant = 9.8;
     std::array<double, 4> imu_calibration{{1., 0., 0., 0.}};
-    common::optional<transform::Rigid3d> fixed_frame_origin_in_map;
+    absl::optional<transform::Rigid3d> fixed_frame_origin_in_map;
   };
 
   enum class TrajectoryState { ACTIVE, FINISHED, FROZEN, DELETED };

cartographer/mapping/trajectory_node.h

@@ -21,7 +21,7 @@
 #include <vector>
 
 #include "Eigen/Core"
-#include "cartographer/common/optional.h"
+#include "absl/types/optional.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/proto/trajectory_node_data.pb.h"
 #include "cartographer/sensor/range_data.h"
@@ -38,7 +38,7 @@ struct TrajectoryNodePose {
   // The node pose in the global SLAM frame.
   transform::Rigid3d global_pose;
 
-  common::optional<ConstantPoseData> constant_pose_data;
+  absl::optional<ConstantPoseData> constant_pose_data;
 };
 
 struct TrajectoryNode {

cartographer/sensor/collator_interface.h

@@ -22,7 +22,7 @@
 #include <unordered_set>
 #include <vector>
 
-#include "cartographer/common/optional.h"
+#include "absl/types/optional.h"
 #include "cartographer/sensor/data.h"
 
 namespace cartographer {
@@ -61,7 +61,7 @@ class CollatorInterface {
   // the ID of the trajectory that needs more data before CollatorInterface is
   // unblocked. Returns 'nullopt' for implementations that do not wait for a
   // particular trajectory.
-  virtual common::optional<int> GetBlockingTrajectoryId() const = 0;
+  virtual absl::optional<int> GetBlockingTrajectoryId() const = 0;
 };
 
 }  // namespace sensor

cartographer/sensor/fixed_frame_pose_data.cc

@@ -16,7 +16,7 @@
 
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 
-#include "cartographer/common/optional.h"
+#include "absl/types/optional.h"
 #include "cartographer/transform/transform.h"
 
 namespace cartographer {
@@ -34,9 +34,9 @@ proto::FixedFramePoseData ToProto(const FixedFramePoseData& pose_data) {
 FixedFramePoseData FromProto(const proto::FixedFramePoseData& proto) {
   return FixedFramePoseData{common::FromUniversal(proto.timestamp()),
                             proto.has_pose()
-                                ? common::optional<transform::Rigid3d>(
+                                ? absl::optional<transform::Rigid3d>(
                                       transform::ToRigid3(proto.pose()))
-                                : common::optional<transform::Rigid3d>()};
+                                : absl::optional<transform::Rigid3d>()};
 }
 
 }  // namespace sensor

cartographer/sensor/fixed_frame_pose_data.h

@@ -19,7 +19,7 @@
 
 #include <memory>
 
-#include "cartographer/common/optional.h"
+#include "absl/types/optional.h"
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/proto/sensor.pb.h"
 #include "cartographer/transform/rigid_transform.h"
@@ -31,7 +31,7 @@ namespace sensor {
 // optimization.
 struct FixedFramePoseData {
   common::Time time;
-  common::optional<transform::Rigid3d> pose;
+  absl::optional<transform::Rigid3d> pose;
 };
 
 // Converts 'pose_data' to a proto::FixedFramePoseData.

cartographer/sensor/internal/collator.cc

@@ -47,8 +47,8 @@ void Collator::AddSensorData(const int trajectory_id,
 
 void Collator::Flush() { queue_.Flush(); }
 
-common::optional<int> Collator::GetBlockingTrajectoryId() const {
+absl::optional<int> Collator::GetBlockingTrajectoryId() const {
-  return common::optional<int>(queue_.GetBlocker().trajectory_id);
+  return absl::optional<int>(queue_.GetBlocker().trajectory_id);
 }
 
 }  // namespace sensor

cartographer/sensor/internal/collator.h

@@ -47,7 +47,7 @@ class Collator : public CollatorInterface {
 
   void Flush() override;
 
-  common::optional<int> GetBlockingTrajectoryId() const override;
+  absl::optional<int> GetBlockingTrajectoryId() const override;
 
  private:
   // Queue keys are a pair of trajectory ID and sensor identifier.

cartographer/sensor/internal/trajectory_collator.cc

@@ -53,8 +53,8 @@ void TrajectoryCollator::Flush() {
   }
 }
 
-common::optional<int> TrajectoryCollator::GetBlockingTrajectoryId() const {
+absl::optional<int> TrajectoryCollator::GetBlockingTrajectoryId() const {
-  return common::optional<int>();
+  return absl::optional<int>();
 }
 
 }  // namespace sensor

cartographer/sensor/internal/trajectory_collator.h

@@ -50,7 +50,7 @@ class TrajectoryCollator : public CollatorInterface {
 
   void Flush() override;
 
-  common::optional<int> GetBlockingTrajectoryId() const override;
+  absl::optional<int> GetBlockingTrajectoryId() const override;
 
  private:
   std::unordered_map<int, OrderedMultiQueue> trajectory_to_queue_;

cmake/modules/FindAbseil.cmake

@@ -54,11 +54,20 @@ if(NOT TARGET standalone_absl)
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/types/libabsl_variant.a"
     "${ABSEIL_PROJECT_BUILD_DIR}/absl/utility/libabsl_utility.a"
     )
+
+   if(CMAKE_GENERATOR MATCHES "Ninja")
+     set (ABSL_BUILD_COMMAND "ninja")
+   else()
+     set (ABSL_BUILD_COMMAND "make")
+   endif()
+
   ExternalProject_Add(${ABSEIL_PROJECT_NAME}
     PREFIX ${ABSEIL_PROJECT_NAME}
     GIT_REPOSITORY   https://github.com/abseil/abseil-cpp.git
     GIT_TAG          44aa275286baf97fc13529aca547a88b180beb08
     INSTALL_COMMAND  ""
+    BUILD_ALWAYS TRUE
+    BUILD_COMMAND ${ABSEIL_BUILD_COMMAND}
     CMAKE_CACHE_ARGS "-DCMAKE_POSITION_INDEPENDENT_CODE:BOOL=ON;-DBUILD_TESTING:BOOL=OFF;-DCMAKE_BUILD_TYPE:STRING=Release"
     BUILD_BYPRODUCTS "${ABSEIL_LIBRARY_PATH};${ABSEIL_DEPENDENT_LIBRARIES}"
   )