Remove unused code. (#287)
parent
8392a7e62c
commit
690d1893a7
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@ -138,8 +138,8 @@ string MapBuilder::SubmapToProto(const int trajectory_id,
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}
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response->set_submap_version(submaps->Get(submap_index)->num_range_data);
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submaps->SubmapToProto(submap_index, sparse_pose_graph_->GetTrajectoryNodes(),
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submap_transforms[submap_index], response);
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submaps->SubmapToProto(submap_index, submap_transforms[submap_index],
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response);
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return "";
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}
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@ -34,8 +34,7 @@ class FakeSubmaps : public Submaps {
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int size() const override { LOG(FATAL) << "Not implemented."; }
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void SubmapToProto(int, const std::vector<mapping::TrajectoryNode>&,
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const transform::Rigid3d&,
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void SubmapToProto(int, const transform::Rigid3d&,
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proto::SubmapQuery::Response*) const override {
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LOG(FATAL) << "Not implemented.";
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}
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@ -113,8 +113,7 @@ class Submaps {
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virtual int size() const = 0;
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// Fills data about the Submap with 'index' into the 'response'.
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virtual void SubmapToProto(
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int index, const std::vector<mapping::TrajectoryNode>& trajectory_nodes,
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virtual void SubmapToProto(int index,
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const transform::Rigid3d& global_submap_pose,
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proto::SubmapQuery::Response* response) const = 0;
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@ -58,14 +58,6 @@ struct TrajectoryNode {
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transform::Rigid3d pose;
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};
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// Users will only be interested in 'trajectory_nodes'. But 'constant_data'
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// is referenced by 'trajectory_nodes'. This struct guarantees that their
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// lifetimes are bound.
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struct TrajectoryNodes {
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std::deque<mapping::TrajectoryNode::ConstantData> constant_data;
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std::vector<mapping::TrajectoryNode> trajectory_nodes;
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};
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} // namespace mapping
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} // namespace cartographer
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@ -135,8 +135,7 @@ const Submap* Submaps::Get(int index) const {
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int Submaps::size() const { return submaps_.size(); }
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void Submaps::SubmapToProto(
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const int index, const std::vector<mapping::TrajectoryNode>&,
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const transform::Rigid3d&,
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const int index, const transform::Rigid3d&,
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mapping::proto::SubmapQuery::Response* const response) const {
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AddProbabilityGridToResponse(Get(index)->local_pose(),
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Get(index)->probability_grid, response);
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@ -58,8 +58,7 @@ class Submaps : public mapping::Submaps {
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const Submap* Get(int index) const override;
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int size() const override;
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void SubmapToProto(
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int index, const std::vector<mapping::TrajectoryNode>& trajectory_nodes,
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const transform::Rigid3d& global_submap_pose,
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int index, const transform::Rigid3d& global_submap_pose,
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mapping::proto::SubmapQuery::Response* response) const override;
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// Inserts 'range_data' into the Submap collection.
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@ -239,8 +239,7 @@ const Submap* Submaps::Get(int index) const {
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int Submaps::size() const { return submaps_.size(); }
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void Submaps::SubmapToProto(
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int index, const std::vector<mapping::TrajectoryNode>& trajectory_nodes,
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const transform::Rigid3d& global_submap_pose,
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int index, const transform::Rigid3d& global_submap_pose,
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mapping::proto::SubmapQuery::Response* const response) const {
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// Generate an X-ray view through the 'hybrid_grid', aligned to the xy-plane
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// in the global map frame.
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@ -67,8 +67,7 @@ class Submaps : public mapping::Submaps {
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const Submap* Get(int index) const override;
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int size() const override;
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void SubmapToProto(
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int index, const std::vector<mapping::TrajectoryNode>& trajectory_nodes,
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const transform::Rigid3d& global_submap_pose,
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int index, const transform::Rigid3d& global_submap_pose,
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mapping::proto::SubmapQuery::Response* response) const override;
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// Inserts 'range_data' into the Submap collection.
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