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Miscellaneous: rename odometer->odometry (#665) 

Since we're adding `sensor::OdometryData`, I think that the function should be called `AddOdometryData`.
master
Juraj Oršulić 2017-11-14 16:18:07 +01:00 committed by Wally B. Feed
parent 5496cbdc0c
commit 4b342eddd0
14 changed files with 17 additions and 17 deletions
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4
cartographer/mapping/global_trajectory_builder.h
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@ -71,8 +71,8 @@ class GlobalTrajectoryBuilder
void AddSensorData(const sensor::OdometryData& odometry_data) override { void AddSensorData(const sensor::OdometryData& odometry_data) override {
CHECK(odometry_data.pose.IsValid()) << odometry_data.pose; CHECK(odometry_data.pose.IsValid()) << odometry_data.pose;
local_trajectory_builder_.AddOdometerData(odometry_data); local_trajectory_builder_.AddOdometryData(odometry_data);
sparse_pose_graph_->AddOdometerData(trajectory_id_, odometry_data); sparse_pose_graph_->AddOdometryData(trajectory_id_, odometry_data);
} }
void AddSensorData( void AddSensorData(

2
cartographer/mapping/sparse_pose_graph.h
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@ -88,7 +88,7 @@ class SparsePoseGraph {
const sensor::ImuData& imu_data) = 0; const sensor::ImuData& imu_data) = 0;
// Inserts an odometry measurement. // Inserts an odometry measurement.
virtual void AddOdometerData(int trajectory_id, virtual void AddOdometryData(int trajectory_id,
const sensor::OdometryData& odometry_data) = 0; const sensor::OdometryData& odometry_data) = 0;
// Finishes the given trajectory. // Finishes the given trajectory.

2
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -212,7 +212,7 @@ void LocalTrajectoryBuilder::AddImuData(const sensor::ImuData& imu_data) {
extrapolator_->AddImuData(imu_data); extrapolator_->AddImuData(imu_data);
} }
void LocalTrajectoryBuilder::AddOdometerData( void LocalTrajectoryBuilder::AddOdometryData(
const sensor::OdometryData& odometry_data) { const sensor::OdometryData& odometry_data) {
if (extrapolator_ == nullptr) { if (extrapolator_ == nullptr) {
// Until we've initialized the extrapolator we cannot add odometry data. // Until we've initialized the extrapolator we cannot add odometry data.

2
cartographer/mapping_2d/local_trajectory_builder.h
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@ -68,7 +68,7 @@ class LocalTrajectoryBuilder {
std::unique_ptr<MatchingResult> AddRangeData( std::unique_ptr<MatchingResult> AddRangeData(
common::Time, const sensor::TimedRangeData& range_data); common::Time, const sensor::TimedRangeData& range_data);
void AddImuData(const sensor::ImuData& imu_data); void AddImuData(const sensor::ImuData& imu_data);
void AddOdometerData(const sensor::OdometryData& odometry_data); void AddOdometryData(const sensor::OdometryData& odometry_data);
private: private:
std::unique_ptr<MatchingResult> AddAccumulatedRangeData( std::unique_ptr<MatchingResult> AddAccumulatedRangeData(

4
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -160,11 +160,11 @@ void SparsePoseGraph::AddImuData(const int trajectory_id,
}); });
} }
void SparsePoseGraph::AddOdometerData( void SparsePoseGraph::AddOdometryData(
const int trajectory_id, const sensor::OdometryData& odometry_data) { const int trajectory_id, const sensor::OdometryData& odometry_data) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) { AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddOdometerData(trajectory_id, odometry_data); optimization_problem_.AddOdometryData(trajectory_id, odometry_data);
}); });
} }

2
cartographer/mapping_2d/sparse_pose_graph.h
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@ -78,7 +78,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override
EXCLUDES(mutex_); EXCLUDES(mutex_);
void AddOdometerData(int trajectory_id, void AddOdometryData(int trajectory_id,
const sensor::OdometryData& odometry_data) override const sensor::OdometryData& odometry_data) override
EXCLUDES(mutex_); EXCLUDES(mutex_);
void AddFixedFramePoseData( void AddFixedFramePoseData(

2
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc
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@ -66,7 +66,7 @@ void OptimizationProblem::AddImuData(const int trajectory_id,
imu_data_.Append(trajectory_id, imu_data); imu_data_.Append(trajectory_id, imu_data);
} }
void OptimizationProblem::AddOdometerData( void OptimizationProblem::AddOdometryData(
const int trajectory_id, const sensor::OdometryData& odometry_data) { const int trajectory_id, const sensor::OdometryData& odometry_data) {
odometry_data_.Append(trajectory_id, odometry_data); odometry_data_.Append(trajectory_id, odometry_data);
} }

2
cartographer/mapping_2d/sparse_pose_graph/optimization_problem.h
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@ -64,7 +64,7 @@ class OptimizationProblem {
OptimizationProblem& operator=(const OptimizationProblem&) = delete; OptimizationProblem& operator=(const OptimizationProblem&) = delete;
void AddImuData(int trajectory_id, const sensor::ImuData& imu_data); void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
void AddOdometerData(int trajectory_id, void AddOdometryData(int trajectory_id,
const sensor::OdometryData& odometry_data); const sensor::OdometryData& odometry_data);
void AddTrajectoryNode(int trajectory_id, common::Time time, void AddTrajectoryNode(int trajectory_id, common::Time time,
const transform::Rigid2d& initial_pose, const transform::Rigid2d& initial_pose,

2
cartographer/mapping_3d/local_trajectory_builder.cc
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@ -175,7 +175,7 @@ LocalTrajectoryBuilder::AddAccumulatedRangeData(
std::move(insertion_result)}); std::move(insertion_result)});
} }
void LocalTrajectoryBuilder::AddOdometerData( void LocalTrajectoryBuilder::AddOdometryData(
const sensor::OdometryData& odometry_data) { const sensor::OdometryData& odometry_data) {
if (extrapolator_ == nullptr) { if (extrapolator_ == nullptr) {
// Until we've initialized the extrapolator we cannot add odometry data. // Until we've initialized the extrapolator we cannot add odometry data.

2
cartographer/mapping_3d/local_trajectory_builder.h
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@ -64,7 +64,7 @@ class LocalTrajectoryBuilder {
// otherwise 'nullptr'. // otherwise 'nullptr'.
std::unique_ptr<MatchingResult> AddRangeData( std::unique_ptr<MatchingResult> AddRangeData(
common::Time time, const sensor::TimedRangeData& range_data); common::Time time, const sensor::TimedRangeData& range_data);
void AddOdometerData(const sensor::OdometryData& odometry_data); void AddOdometryData(const sensor::OdometryData& odometry_data);
const mapping::PoseEstimate& pose_estimate() const; const mapping::PoseEstimate& pose_estimate() const;
private: private:

4
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -157,11 +157,11 @@ void SparsePoseGraph::AddImuData(const int trajectory_id,
}); });
} }
void SparsePoseGraph::AddOdometerData( void SparsePoseGraph::AddOdometryData(
const int trajectory_id, const sensor::OdometryData& odometry_data) { const int trajectory_id, const sensor::OdometryData& odometry_data) {
common::MutexLocker locker(&mutex_); common::MutexLocker locker(&mutex_);
AddWorkItem([=]() REQUIRES(mutex_) { AddWorkItem([=]() REQUIRES(mutex_) {
optimization_problem_.AddOdometerData(trajectory_id, odometry_data); optimization_problem_.AddOdometryData(trajectory_id, odometry_data);
}); });
} }

2
cartographer/mapping_3d/sparse_pose_graph.h
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@ -78,7 +78,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override
EXCLUDES(mutex_); EXCLUDES(mutex_);
void AddOdometerData(int trajectory_id, void AddOdometryData(int trajectory_id,
const sensor::OdometryData& odometry_data) override const sensor::OdometryData& odometry_data) override
EXCLUDES(mutex_); EXCLUDES(mutex_);
void AddFixedFramePoseData( void AddFixedFramePoseData(

2
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.cc
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@ -86,7 +86,7 @@ void OptimizationProblem::AddImuData(const int trajectory_id,
imu_data_.Append(trajectory_id, imu_data); imu_data_.Append(trajectory_id, imu_data);
} }
void OptimizationProblem::AddOdometerData( void OptimizationProblem::AddOdometryData(
const int trajectory_id, const sensor::OdometryData& odometry_data) { const int trajectory_id, const sensor::OdometryData& odometry_data) {
odometry_data_.Append(trajectory_id, odometry_data); odometry_data_.Append(trajectory_id, odometry_data);
} }

2
cartographer/mapping_3d/sparse_pose_graph/optimization_problem.h
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@ -67,7 +67,7 @@ class OptimizationProblem {
OptimizationProblem& operator=(const OptimizationProblem&) = delete; OptimizationProblem& operator=(const OptimizationProblem&) = delete;
void AddImuData(int trajectory_id, const sensor::ImuData& imu_data); void AddImuData(int trajectory_id, const sensor::ImuData& imu_data);
void AddOdometerData(int trajectory_id, void AddOdometryData(int trajectory_id,
const sensor::OdometryData& odometry_data); const sensor::OdometryData& odometry_data);
void AddFixedFramePoseData( void AddFixedFramePoseData(
int trajectory_id, int trajectory_id,