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Tiny cleanup of the MapBuilder. (#313) 

GetTrajectoryConnectivity() was a convenience function.
Instead, sparse_pose_graph() should be used to get access to
GetConnectedTrajectories().
master
Wolfgang Hess 2017-06-06 15:20:10 +02:00 committed by GitHub
parent ba4f8ca9ee
commit 56529e5968
2 changed files with 0 additions and 7 deletions
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4
cartographer/mapping/map_builder.cc
View File

@ -104,10 +104,6 @@ int MapBuilder::GetBlockingTrajectoryId() const {
return sensor_collator_.GetBlockingTrajectoryId(); return sensor_collator_.GetBlockingTrajectoryId();
} }
proto::TrajectoryConnectivity MapBuilder::GetTrajectoryConnectivity() {
return ToProto(sparse_pose_graph_->GetConnectedTrajectories());
}
string MapBuilder::SubmapToProto(const int trajectory_id, string MapBuilder::SubmapToProto(const int trajectory_id,
const int submap_index, const int submap_index,
proto::SubmapQuery::Response* const response) { proto::SubmapQuery::Response* const response) {

3
cartographer/mapping/map_builder.h
View File

@ -71,9 +71,6 @@ class MapBuilder {
// unblocked. // unblocked.
int GetBlockingTrajectoryId() const; int GetBlockingTrajectoryId() const;
// Returns the trajectory connectivity.
proto::TrajectoryConnectivity GetTrajectoryConnectivity();
// Fills the SubmapQuery::Response corresponding to 'submap_index' from // Fills the SubmapQuery::Response corresponding to 'submap_index' from
// 'trajectory_id'. Returns an error string on failure, or an empty string on // 'trajectory_id'. Returns an error string on failure, or an empty string on
// success. // success.