add check (#1063)
parent
74f74c4b61
commit
663e135426
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@ -60,8 +60,7 @@ class ConstraintBuilder2D {
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using Constraint = PoseGraphInterface::Constraint;
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using Result = std::vector<Constraint>;
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ConstraintBuilder2D(
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const pose_graph::proto::ConstraintBuilderOptions& options,
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ConstraintBuilder2D(const proto::ConstraintBuilderOptions& options,
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common::ThreadPool* thread_pool);
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~ConstraintBuilder2D();
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@ -480,7 +480,7 @@ void PoseGraph2D::AddNodeFromProto(const transform::Rigid3d& global_pose,
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void PoseGraph2D::SetTrajectoryDataFromProto(
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const proto::TrajectoryData& data) {
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// Not implemented yet in 2D.
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LOG(ERROR) << "not implemented";
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}
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void PoseGraph2D::AddNodeToSubmap(const NodeId& node_id,
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@ -62,6 +62,8 @@ std::vector<std::string> SelectRangeSensorIds(
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MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
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: options_(options), thread_pool_(options.num_background_threads()) {
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CHECK(options.use_trajectory_builder_2d() ^
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options.use_trajectory_builder_3d());
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if (options.use_trajectory_builder_2d()) {
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pose_graph_ = common::make_unique<PoseGraph2D>(
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options_.pose_graph_options(),
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