From 4d52c466291e8798ef735867f7bf1e8c463c1e23 Mon Sep 17 00:00:00 2001 From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com> Date: Tue, 13 Mar 2018 15:18:05 +0100 Subject: [PATCH] Clean-up dependencies and move real_time_correlative_scan_matcher. (#986) [Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md) --- .../internal/2d/local_trajectory_builder_options_2d.cc | 2 +- .../scan_matching/real_time_correlative_scan_matcher_2d.h | 1 - .../real_time_correlative_scan_matcher_2d_test.cc | 1 + .../internal/3d/local_trajectory_builder_options_3d.cc | 2 +- .../real_time_correlative_scan_matcher_3d_test.cc | 2 +- .../scan_matching/real_time_correlative_scan_matcher.cc | 2 +- .../scan_matching/real_time_correlative_scan_matcher.h | 6 +++--- 7 files changed, 8 insertions(+), 8 deletions(-) rename cartographer/mapping/{ => internal}/scan_matching/real_time_correlative_scan_matcher.cc (91%) rename cartographer/mapping/{ => internal}/scan_matching/real_time_correlative_scan_matcher.h (79%) diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc index 5dd596e..552e0d5 100644 --- a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc +++ b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc @@ -18,8 +18,8 @@ #include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h" -#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" #include "cartographer/mapping/internal/motion_filter.h" +#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h" #include "cartographer/sensor/internal/voxel_filter.h" namespace cartographer { diff --git a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h index dd0f73e..a991d27 100644 --- a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h +++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h @@ -44,7 +44,6 @@ #include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/internal/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/real_time_correlative_scan_matcher.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc index 3a5df85..61842e1 100644 --- a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc +++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc @@ -24,6 +24,7 @@ #include "cartographer/common/make_unique.h" #include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/2d/range_data_inserter_2d.h" +#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/transform.h" #include "gtest/gtest.h" diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc index 6774b0a..92c9ed1 100644 --- a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc +++ b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc @@ -19,7 +19,7 @@ #include "cartographer/mapping/3d/submap_3d.h" #include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h" #include "cartographer/mapping/internal/motion_filter.h" -#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h" +#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h" #include "cartographer/sensor/internal/voxel_filter.h" #include "glog/logging.h" diff --git a/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc index 23dd429..bf7d349 100644 --- a/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc +++ b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc @@ -21,7 +21,7 @@ #include "Eigen/Core" #include "cartographer/common/lua_parameter_dictionary_test_helpers.h" #include "cartographer/mapping/3d/hybrid_grid.h" -#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h" +#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h" #include "cartographer/sensor/point_cloud.h" #include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform_test_helpers.h" diff --git a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.cc b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.cc similarity index 91% rename from cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.cc rename to cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.cc index 3709c28..966ebe3 100644 --- a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.cc +++ b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.cc @@ -1,4 +1,4 @@ -#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h" +#include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h" namespace cartographer { namespace mapping { diff --git a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h similarity index 79% rename from cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h rename to cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h index 56c9f01..2345dfc 100644 --- a/cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h +++ b/cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h @@ -15,8 +15,8 @@ * limitations under the License. */ -#ifndef CARTOGRAPHER_MAPPING_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ -#define CARTOGRAPHER_MAPPING_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ +#ifndef CARTOGRAPHER_MAPPING_INTERNAL_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ +#define CARTOGRAPHER_MAPPING_INTERNAL_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ #include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h" @@ -33,4 +33,4 @@ CreateRealTimeCorrelativeScanMatcherOptions( } // namespace mapping } // namespace cartographer -#endif // CARTOGRAPHER_MAPPING_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_ +#endif // CARTOGRAPHER_MAPPING_INTERNAL_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_H_