From 56529e5968144e1fee4917e451071b4161644ee0 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Tue, 6 Jun 2017 15:20:10 +0200
Subject: [PATCH] Tiny cleanup of the MapBuilder. (#313)

GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
---
 cartographer/mapping/map_builder.cc | 4 ----
 cartographer/mapping/map_builder.h  | 3 ---
 2 files changed, 7 deletions(-)

diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc
index 3eb7ebd..b005a1d 100644
--- a/cartographer/mapping/map_builder.cc
+++ b/cartographer/mapping/map_builder.cc
@@ -104,10 +104,6 @@ int MapBuilder::GetBlockingTrajectoryId() const {
   return sensor_collator_.GetBlockingTrajectoryId();
 }
 
-proto::TrajectoryConnectivity MapBuilder::GetTrajectoryConnectivity() {
-  return ToProto(sparse_pose_graph_->GetConnectedTrajectories());
-}
-
 string MapBuilder::SubmapToProto(const int trajectory_id,
                                  const int submap_index,
                                  proto::SubmapQuery::Response* const response) {
diff --git a/cartographer/mapping/map_builder.h b/cartographer/mapping/map_builder.h
index d6bce5e..445e54e 100644
--- a/cartographer/mapping/map_builder.h
+++ b/cartographer/mapping/map_builder.h
@@ -71,9 +71,6 @@ class MapBuilder {
   // unblocked.
   int GetBlockingTrajectoryId() const;
 
-  // Returns the trajectory connectivity.
-  proto::TrajectoryConnectivity GetTrajectoryConnectivity();
-
   // Fills the SubmapQuery::Response corresponding to 'submap_index' from
   // 'trajectory_id'. Returns an error string on failure, or an empty string on
   // success.