Rename to local/global map frame. (#2)
Changes the confusingly named GetOdometryToMapTransform() function to GetLocalToGlobalTransform(), since it is transforming from the local SLAM map frame to the global SLAM map frame.master
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aa7b060ac5
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6e56578394
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@ -44,8 +44,7 @@ class GlobalTrajectoryBuilderInterface {
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// 3. UKF estimate after integrating any measurements
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//
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// Finally, 'pose' is the end-user visualization of orientation and
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// 'point_cloud' is the point cloud, in the odometry frame, used to make
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// this estimate.
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// 'point_cloud' is the point cloud, in the local map frame.
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struct PoseEstimate {
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PoseEstimate() = default;
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PoseEstimate(common::Time time,
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@ -106,9 +106,10 @@ class SparsePoseGraph {
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virtual std::vector<transform::Rigid3d> GetSubmapTransforms(
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const Submaps& submaps) = 0;
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// Returns the transform converting from odometry based transforms to the
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// optimized world.
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virtual transform::Rigid3d GetOdometryToMapTransform(
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// Returns the transform converting data in the local map frame (i.e. the
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// continuous, non-loop-closed frame) into the global map frame (i.e. the
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// discontinuous, loop-closed frame).
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virtual transform::Rigid3d GetLocalToGlobalTransform(
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const mapping::Submaps& submaps) = 0;
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// Returns the current optimized trajectory.
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@ -90,7 +90,7 @@ void SparsePoseGraph::AddScan(
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const mapping::Submaps* submaps,
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const mapping::Submap* const matching_submap,
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const std::vector<const mapping::Submap*>& insertion_submaps) {
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const transform::Rigid3d optimized_pose(GetOdometryToMapTransform(*submaps) *
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const transform::Rigid3d optimized_pose(GetLocalToGlobalTransform(*submaps) *
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transform::Embed3D(pose));
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common::MutexLocker locker(&mutex_);
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@ -393,7 +393,7 @@ std::vector<SparsePoseGraph::Constraint3D> SparsePoseGraph::constraints_3d() {
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return {};
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}
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transform::Rigid3d SparsePoseGraph::GetOdometryToMapTransform(
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transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
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const mapping::Submaps& submaps) {
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return GetSubmapTransforms(submaps).back() *
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submaps.Get(submaps.size() - 1)->local_pose().inverse();
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@ -86,7 +86,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
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override;
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std::vector<transform::Rigid3d> GetSubmapTransforms(
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const mapping::Submaps& submaps) EXCLUDES(mutex_) override;
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transform::Rigid3d GetOdometryToMapTransform(const mapping::Submaps& submaps)
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transform::Rigid3d GetLocalToGlobalTransform(const mapping::Submaps& submaps)
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EXCLUDES(mutex_) override;
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std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
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EXCLUDES(mutex_);
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@ -88,7 +88,7 @@ int SparsePoseGraph::AddScan(
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const kalman_filter::PoseCovariance& covariance, const Submaps* submaps,
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const Submap* const matching_submap,
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const std::vector<const Submap*>& insertion_submaps) {
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const transform::Rigid3d optimized_pose(GetOdometryToMapTransform(*submaps) *
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const transform::Rigid3d optimized_pose(GetLocalToGlobalTransform(*submaps) *
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pose);
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common::MutexLocker locker(&mutex_);
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@ -401,7 +401,7 @@ std::vector<SparsePoseGraph::Constraint3D> SparsePoseGraph::constraints_3d() {
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return constraints_;
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}
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transform::Rigid3d SparsePoseGraph::GetOdometryToMapTransform(
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transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
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const mapping::Submaps& submaps) {
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return GetSubmapTransforms(submaps).back() *
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submaps.Get(submaps.size() - 1)->local_pose().inverse();
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@ -89,7 +89,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
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override;
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std::vector<transform::Rigid3d> GetSubmapTransforms(
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const mapping::Submaps& submaps) EXCLUDES(mutex_) override;
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transform::Rigid3d GetOdometryToMapTransform(const mapping::Submaps& submaps)
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transform::Rigid3d GetLocalToGlobalTransform(const mapping::Submaps& submaps)
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EXCLUDES(mutex_) override;
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std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
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EXCLUDES(mutex_);
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