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add check (#1063)

master
gaschler 2018-04-16 12:01:09 +02:00 committed by Wally B. Feed
parent 74f74c4b61
commit 663e135426
3 changed files with 5 additions and 4 deletions
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5
cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
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@ -60,9 +60,8 @@ class ConstraintBuilder2D {
using Constraint = PoseGraphInterface::Constraint;
using Result = std::vector<Constraint>;
ConstraintBuilder2D(
const pose_graph::proto::ConstraintBuilderOptions& options,
common::ThreadPool* thread_pool);
ConstraintBuilder2D(const proto::ConstraintBuilderOptions& options,
common::ThreadPool* thread_pool);
~ConstraintBuilder2D();
ConstraintBuilder2D(const ConstraintBuilder2D&) = delete;

2
cartographer/mapping/internal/2d/pose_graph_2d.cc
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@ -480,7 +480,7 @@ void PoseGraph2D::AddNodeFromProto(const transform::Rigid3d& global_pose,
void PoseGraph2D::SetTrajectoryDataFromProto(
const proto::TrajectoryData& data) {
// Not implemented yet in 2D.
LOG(ERROR) << "not implemented";
}
void PoseGraph2D::AddNodeToSubmap(const NodeId& node_id,

2
cartographer/mapping/map_builder.cc
View File

@ -62,6 +62,8 @@ std::vector<std::string> SelectRangeSensorIds(
MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
: options_(options), thread_pool_(options.num_background_threads()) {
CHECK(options.use_trajectory_builder_2d() ^
options.use_trajectory_builder_3d());
if (options.use_trajectory_builder_2d()) {
pose_graph_ = common::make_unique<PoseGraph2D>(
options_.pose_graph_options(),