12345qiupeng
/
cartographer
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Add MapById<>::ConstIterator::operator->(). (#580)

master
Wolfgang Hess 2017-10-12 16:15:12 +02:00 committed by GitHub
parent cb41777b9e
commit 4ab4817104
3 changed files with 10 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
cartographer/mapping/id.h
View File

@ -21,10 +21,12 @@
#include <iterator> #include <iterator>
#include <limits> #include <limits>
#include <map> #include <map>
#include <memory>
#include <ostream> #include <ostream>
#include <tuple> #include <tuple>
#include <vector> #include <vector>
#include "cartographer/common/make_unique.h"
#include "cartographer/common/port.h" #include "cartographer/common/port.h"
#include "glog/logging.h" #include "glog/logging.h"
@ -129,7 +131,7 @@ class MapById {
using iterator_category = std::bidirectional_iterator_tag; using iterator_category = std::bidirectional_iterator_tag;
using value_type = IdDataReference; using value_type = IdDataReference;
using difference_type = int64; using difference_type = int64;
using pointer = const IdDataReference*; using pointer = std::unique_ptr<const IdDataReference>;
using reference = const IdDataReference&; using reference = const IdDataReference&;
explicit ConstIterator(const MapById& map_by_id, const int trajectory_id) explicit ConstIterator(const MapById& map_by_id, const int trajectory_id)
@ -149,6 +151,10 @@ class MapById {
current_data_->second}; current_data_->second};
} }
std::unique_ptr<const IdDataReference> operator->() const {
return common::make_unique<const IdDataReference>(this->operator*());
}
ConstIterator& operator++() { ConstIterator& operator++() {
CHECK(current_trajectory_ != end_trajectory_); CHECK(current_trajectory_ != end_trajectory_);
++current_data_; ++current_data_;

2
cartographer/mapping/id_test.cc
View File

@ -41,7 +41,7 @@ TEST(IdTest, MapByIdIterator) {
map_by_id.Append(42, 3); map_by_id.Append(42, 3);
map_by_id.Append(0, 0); map_by_id.Append(0, 0);
map_by_id.Append(0, 1); map_by_id.Append(0, 1);
EXPECT_EQ(2, (*map_by_id.BeginOfTrajectory(7)).data); EXPECT_EQ(2, map_by_id.BeginOfTrajectory(7)->data);
EXPECT_TRUE(std::next(map_by_id.BeginOfTrajectory(7)) == EXPECT_TRUE(std::next(map_by_id.BeginOfTrajectory(7)) ==
map_by_id.EndOfTrajectory(7)); map_by_id.EndOfTrajectory(7));
std::deque<std::pair<NodeId, int>> expected_id_data = { std::deque<std::pair<NodeId, int>> expected_id_data = {

4
cartographer/mapping_2d/sparse_pose_graph.cc
View File

@ -72,7 +72,7 @@ std::vector<mapping::SubmapId> SparsePoseGraph::GrowSubmapTransformsAsNeeded(
CHECK_EQ(2, insertion_submaps.size()); CHECK_EQ(2, insertion_submaps.size());
const auto end_it = submap_data.EndOfTrajectory(trajectory_id); const auto end_it = submap_data.EndOfTrajectory(trajectory_id);
CHECK(submap_data.BeginOfTrajectory(trajectory_id) != end_it); CHECK(submap_data.BeginOfTrajectory(trajectory_id) != end_it);
const mapping::SubmapId last_submap_id = (*std::prev(end_it)).id; const mapping::SubmapId last_submap_id = std::prev(end_it)->id;
if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) { if (submap_data_.at(last_submap_id).submap == insertion_submaps.front()) {
// In this case, 'last_submap_id' is the ID of 'insertions_submaps.front()' // In this case, 'last_submap_id' is the ID of 'insertions_submaps.front()'
// and 'insertions_submaps.back()' is new. // and 'insertions_submaps.back()' is new.
@ -596,7 +596,7 @@ transform::Rigid3d SparsePoseGraph::ComputeLocalToGlobalTransform(
if (begin_it == end_it) { if (begin_it == end_it) {
return transform::Rigid3d::Identity(); return transform::Rigid3d::Identity();
} }
const mapping::SubmapId last_optimized_submap_id = (*std::prev(end_it)).id; const mapping::SubmapId last_optimized_submap_id = std::prev(end_it)->id;
// Accessing 'local_pose' in Submap is okay, since the member is const. // Accessing 'local_pose' in Submap is okay, since the member is const.
return transform::Embed3D( return transform::Embed3D(
submap_transforms.at(last_optimized_submap_id).pose) * submap_transforms.at(last_optimized_submap_id).pose) *