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Get rid of std::bind. (#1261) 

`std::bind` is bug prone and should be avoided.
Lambdas are a more general and safer replacement.
master
Wolfgang Hess 2018-07-11 20:18:09 +02:00 committed by Wally B. Feed
parent a905036a00
commit 5ad2088561
5 changed files with 30 additions and 11 deletions
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7
cartographer/cloud/internal/map_builder_server.cc
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@ -110,8 +110,11 @@ MapBuilderServer::MapBuilderServer(
<< "Set either use_trajectory_builder_2d or use_trajectory_builder_3d"; << "Set either use_trajectory_builder_2d or use_trajectory_builder_3d";
} }
map_builder_->pose_graph()->SetGlobalSlamOptimizationCallback( map_builder_->pose_graph()->SetGlobalSlamOptimizationCallback(
std::bind(&MapBuilderServer::OnGlobalSlamOptimizations, this, [this](const std::map<int, mapping::SubmapId>& last_optimized_submap_ids,
std::placeholders::_1, std::placeholders::_2)); const std::map<int, mapping::NodeId>& last_optimized_node_ids) {
OnGlobalSlamOptimizations(last_optimized_submap_ids,
last_optimized_node_ids);
});
} }
void MapBuilderServer::Start() { void MapBuilderServer::Start() {

10
cartographer/mapping/internal/2d/pose_graph_2d.cc
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@ -149,8 +149,10 @@ void PoseGraph2D::AddWorkItem(
if (work_queue_ == nullptr) { if (work_queue_ == nullptr) {
if (work_item() == WorkItem::Result::kRunOptimization) { if (work_item() == WorkItem::Result::kRunOptimization) {
work_queue_ = common::make_unique<WorkQueue>(); work_queue_ = common::make_unique<WorkQueue>();
constraint_builder_.WhenDone(std::bind(&PoseGraph2D::HandleWorkQueue, constraint_builder_.WhenDone(
this, std::placeholders::_1)); [this](const constraints::ConstraintBuilder2D::Result& result) {
HandleWorkQueue(result);
});
} }
} else { } else {
const auto now = std::chrono::steady_clock::now(); const auto now = std::chrono::steady_clock::now();
@ -437,7 +439,9 @@ void PoseGraph2D::HandleWorkQueue(
LOG(INFO) << "Remaining work items in queue: " << work_queue_->size(); LOG(INFO) << "Remaining work items in queue: " << work_queue_->size();
// We have to optimize again. // We have to optimize again.
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
std::bind(&PoseGraph2D::HandleWorkQueue, this, std::placeholders::_1)); [this](const constraints::ConstraintBuilder2D::Result& result) {
HandleWorkQueue(result);
});
} }
void PoseGraph2D::WaitForAllComputations() { void PoseGraph2D::WaitForAllComputations() {

8
cartographer/mapping/internal/3d/pose_graph_3d.cc
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@ -152,7 +152,9 @@ void PoseGraph3D::AddWorkItem(
} else if (work_item() == WorkItem::Result::kRunOptimization) { } else if (work_item() == WorkItem::Result::kRunOptimization) {
work_queue_ = common::make_unique<WorkQueue>(); work_queue_ = common::make_unique<WorkQueue>();
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
std::bind(&PoseGraph3D::HandleWorkQueue, this, std::placeholders::_1)); [this](const constraints::ConstraintBuilder3D::Result& result) {
HandleWorkQueue(result);
});
} }
} }
@ -452,7 +454,9 @@ void PoseGraph3D::HandleWorkQueue(
LOG(INFO) << "Remaining work items in queue: " << work_queue_->size(); LOG(INFO) << "Remaining work items in queue: " << work_queue_->size();
// We have to optimize again. // We have to optimize again.
constraint_builder_.WhenDone( constraint_builder_.WhenDone(
std::bind(&PoseGraph3D::HandleWorkQueue, this, std::placeholders::_1)); [this](const constraints::ConstraintBuilder3D::Result& result) {
HandleWorkQueue(result);
});
} }
void PoseGraph3D::WaitForAllComputations() { void PoseGraph3D::WaitForAllComputations() {

8
cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc
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@ -60,7 +60,9 @@ TEST_F(ConstraintBuilder2DTest, CallsBack) {
EXPECT_CALL(mock_, Run(::testing::IsEmpty())); EXPECT_CALL(mock_, Run(::testing::IsEmpty()));
constraint_builder_->NotifyEndOfNode(); constraint_builder_->NotifyEndOfNode();
constraint_builder_->WhenDone( constraint_builder_->WhenDone(
std::bind(&MockCallback::Run, &mock_, std::placeholders::_1)); [this](const constraints::ConstraintBuilder2D::Result& result) {
mock_.Run(result);
});
thread_pool_.WaitUntilIdle(); thread_pool_.WaitUntilIdle();
EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), 1); EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), 1);
} }
@ -98,7 +100,9 @@ TEST_F(ConstraintBuilder2DTest, FindsConstraints) {
&PoseGraphInterface::Constraint::tag, &PoseGraphInterface::Constraint::tag,
PoseGraphInterface::Constraint::INTER_SUBMAP))))); PoseGraphInterface::Constraint::INTER_SUBMAP)))));
constraint_builder_->WhenDone( constraint_builder_->WhenDone(
std::bind(&MockCallback::Run, &mock_, std::placeholders::_1)); [this](const constraints::ConstraintBuilder2D::Result& result) {
mock_.Run(result);
});
thread_pool_.WaitUntilIdle(); thread_pool_.WaitUntilIdle();
constraint_builder_->DeleteScanMatcher(submap_id); constraint_builder_->DeleteScanMatcher(submap_id);
} }

8
cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc
View File

@ -63,7 +63,9 @@ TEST_F(ConstraintBuilder3DTest, CallsBack) {
EXPECT_CALL(mock_, Run(::testing::IsEmpty())); EXPECT_CALL(mock_, Run(::testing::IsEmpty()));
constraint_builder_->NotifyEndOfNode(); constraint_builder_->NotifyEndOfNode();
constraint_builder_->WhenDone( constraint_builder_->WhenDone(
std::bind(&MockCallback::Run, &mock_, std::placeholders::_1)); [this](const constraints::ConstraintBuilder3D::Result& result) {
mock_.Run(result);
});
thread_pool_.WaitUntilIdle(); thread_pool_.WaitUntilIdle();
EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), 1); EXPECT_EQ(constraint_builder_->GetNumFinishedNodes(), 1);
} }
@ -108,7 +110,9 @@ TEST_F(ConstraintBuilder3DTest, FindsConstraints) {
&PoseGraphInterface::Constraint::tag, &PoseGraphInterface::Constraint::tag,
PoseGraphInterface::Constraint::INTER_SUBMAP))))); PoseGraphInterface::Constraint::INTER_SUBMAP)))));
constraint_builder_->WhenDone( constraint_builder_->WhenDone(
std::bind(&MockCallback::Run, &mock_, std::placeholders::_1)); [this](const constraints::ConstraintBuilder3D::Result& result) {
mock_.Run(result);
});
thread_pool_.WaitUntilIdle(); thread_pool_.WaitUntilIdle();
constraint_builder_->DeleteScanMatcher(submap_id); constraint_builder_->DeleteScanMatcher(submap_id);
} }