Remove mapping::Submaps. (#345)

PAIR=wohe

cartographer/mapping/submaps.cc

@@ -1,46 +0,0 @@
-/*
- * Copyright 2016 The Cartographer Authors
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "cartographer/mapping/submaps.h"
-
-#include <vector>
-
-#include "cartographer/common/port.h"
-#include "cartographer/transform/transform.h"
-
-namespace cartographer {
-namespace mapping {
-
-Submaps::Submaps() {}
-
-Submaps::~Submaps() {}
-
-int Submaps::matching_index() const {
-  if (size() > 1) {
-    return size() - 2;
-  }
-  return size() - 1;
-}
-
-std::vector<int> Submaps::insertion_indices() const {
-  if (size() > 1) {
-    return {size() - 2, size() - 1};
-  }
-  return {size() - 1};
-}
-
-}  // namespace mapping
-}  // namespace cartographer

cartographer/mapping/submaps.h

@@ -80,42 +80,6 @@ class Submap {
   int num_range_data_ = 0;
 };
 
-// Submaps is a sequence of maps to which scans are matched and into which scans
-// are inserted.
-//
-// Except during initialization when only a single submap exists, there are
-// always two submaps into which scans are inserted: an old submap that is used
-// for matching, and a new one, which will be used for matching next, that is
-// being initialized.
-//
-// Once a certain number of scans have been inserted, the new submap is
-// considered initialized: the old submap is no longer changed, the "new" submap
-// is now the "old" submap and is used for scan-to-map matching. Moreover,
-// a "new" submap gets inserted.
-class Submaps {
- public:
-  Submaps();
-  virtual ~Submaps();
-
-  Submaps(const Submaps&) = delete;
-  Submaps& operator=(const Submaps&) = delete;
-
-  // Returns the index of the newest initialized Submap which can be
-  // used for scan-to-map matching.
-  int matching_index() const;
-
-  // Returns the indices of the Submap into which point clouds will
-  // be inserted.
-  std::vector<int> insertion_indices() const;
-
-  // Returns the Submap with the given 'index'. The same 'index' will always
-  // return the same pointer, so that Submaps can be identified by it.
-  virtual const Submap* Get(int index) const = 0;
-
-  // Returns the number of Submaps.
-  virtual int size() const = 0;
-};
-
 }  // namespace mapping
 }  // namespace cartographer
 

cartographer/mapping_2d/submaps.cc

@@ -180,6 +180,20 @@ const Submap* Submaps::Get(int index) const {
 
 int Submaps::size() const { return submaps_.size(); }
 
+int Submaps::matching_index() const {
+  if (size() > 1) {
+    return size() - 2;
+  }
+  return size() - 1;
+}
+
+std::vector<int> Submaps::insertion_indices() const {
+  if (size() > 1) {
+    return {size() - 2, size() - 1};
+  }
+  return {size() - 1};
+}
+
 void Submaps::FinishSubmap(int index) {
   // Crop the finished Submap before inserting a new Submap to reduce peak
   // memory usage a bit.

cartographer/mapping_2d/submaps.h

@@ -60,16 +60,35 @@ class Submap : public mapping::Submap {
   bool finished_ = false;
 };
 
-// A container of Submaps.
+// Submaps is a sequence of maps to which scans are matched and into which scans
-class Submaps : public mapping::Submaps {
+// are inserted.
+//
+// Except during initialization when only a single submap exists, there are
+// always two submaps into which scans are inserted: an old submap that is used
+// for matching, and a new one, which will be used for matching next, that is
+// being initialized.
+//
+// Once a certain number of scans have been inserted, the new submap is
+// considered initialized: the old submap is no longer changed, the "new" submap
+// is now the "old" submap and is used for scan-to-map matching. Moreover,
+// a "new" submap gets inserted.
+class Submaps {
  public:
   explicit Submaps(const proto::SubmapsOptions& options);
 
   Submaps(const Submaps&) = delete;
   Submaps& operator=(const Submaps&) = delete;
 
-  const Submap* Get(int index) const override;
+  const Submap* Get(int index) const;
-  int size() const override;
+  int size() const;
+
+  // Returns the index of the newest initialized Submap which can be
+  // used for scan-to-map matching.
+  int matching_index() const;
+
+  // Returns the indices of the Submap into which point clouds will
+  // be inserted.
+  std::vector<int> insertion_indices() const;
 
   // Inserts 'range_data' into the Submap collection.
   void InsertRangeData(const sensor::RangeData& range_data);

cartographer/mapping_3d/submaps.cc

@@ -379,6 +379,20 @@ const Submap* Submaps::Get(int index) const {
 
 int Submaps::size() const { return submaps_.size(); }
 
+int Submaps::matching_index() const {
+  if (size() > 1) {
+    return size() - 2;
+  }
+  return size() - 1;
+}
+
+std::vector<int> Submaps::insertion_indices() const {
+  if (size() > 1) {
+    return {size() - 2, size() - 1};
+  }
+  return {size() - 1};
+}
+
 void Submaps::InsertRangeData(const sensor::RangeData& range_data,
                               const Eigen::Quaterniond& gravity_alignment) {
   for (const int index : insertion_indices()) {

cartographer/mapping_3d/submaps.h

@@ -73,16 +73,35 @@ class Submap : public mapping::Submap {
   bool finished_ = false;
 };
 
-// A container of Submaps.
+// Submaps is a sequence of maps to which scans are matched and into which scans
-class Submaps : public mapping::Submaps {
+// are inserted.
+//
+// Except during initialization when only a single submap exists, there are
+// always two submaps into which scans are inserted: an old submap that is used
+// for matching, and a new one, which will be used for matching next, that is
+// being initialized.
+//
+// Once a certain number of scans have been inserted, the new submap is
+// considered initialized: the old submap is no longer changed, the "new" submap
+// is now the "old" submap and is used for scan-to-map matching. Moreover,
+// a "new" submap gets inserted.
+class Submaps {
  public:
   explicit Submaps(const proto::SubmapsOptions& options);
 
   Submaps(const Submaps&) = delete;
   Submaps& operator=(const Submaps&) = delete;
 
-  const Submap* Get(int index) const override;
+  const Submap* Get(int index) const;
-  int size() const override;
+  int size() const;
+
+  // Returns the index of the newest initialized Submap which can be
+  // used for scan-to-map matching.
+  int matching_index() const;
+
+  // Returns the indices of the Submap into which point clouds will
+  // be inserted.
+  std::vector<int> insertion_indices() const;
 
   // Inserts 'range_data' into the Submap collection. 'gravity_alignment' is
   // used for the orientation of new submaps so that the z axis approximately