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Rename to local/global map frame. () 

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
Wolfgang Hess 2016-08-10 12:09:52 +02:00 committed by GitHub
parent aa7b060ac5
commit 6e56578394
6 changed files with 11 additions and 11 deletions

3
cartographer/mapping/global_trajectory_builder_interface.h
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@ -44,8 +44,7 @@ class GlobalTrajectoryBuilderInterface {
// 3. UKF estimate after integrating any measurements
//
// Finally, 'pose' is the end-user visualization of orientation and
// 'point_cloud' is the point cloud, in the odometry frame, used to make
// this estimate.
// 'point_cloud' is the point cloud, in the local map frame.
struct PoseEstimate {
PoseEstimate() = default;
PoseEstimate(common::Time time,

7
cartographer/mapping/sparse_pose_graph.h
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@ -106,9 +106,10 @@ class SparsePoseGraph {
virtual std::vector<transform::Rigid3d> GetSubmapTransforms(
const Submaps& submaps) = 0;
// Returns the transform converting from odometry based transforms to the
// optimized world.
virtual transform::Rigid3d GetOdometryToMapTransform(
// Returns the transform converting data in the local map frame (i.e. the
// continuous, non-loop-closed frame) into the global map frame (i.e. the
// discontinuous, loop-closed frame).
virtual transform::Rigid3d GetLocalToGlobalTransform(
const mapping::Submaps& submaps) = 0;
// Returns the current optimized trajectory.

4
cartographer/mapping_2d/sparse_pose_graph.cc
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@ -90,7 +90,7 @@ void SparsePoseGraph::AddScan(
const mapping::Submaps* submaps,
const mapping::Submap* const matching_submap,
const std::vector<const mapping::Submap*>& insertion_submaps) {
const transform::Rigid3d optimized_pose(GetOdometryToMapTransform(*submaps) *
const transform::Rigid3d optimized_pose(GetLocalToGlobalTransform(*submaps) *
transform::Embed3D(pose));
common::MutexLocker locker(&mutex_);
@ -393,7 +393,7 @@ std::vector<SparsePoseGraph::Constraint3D> SparsePoseGraph::constraints_3d() {
return {};
}
transform::Rigid3d SparsePoseGraph::GetOdometryToMapTransform(
transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
const mapping::Submaps& submaps) {
return GetSubmapTransforms(submaps).back() *
submaps.Get(submaps.size() - 1)->local_pose().inverse();

2
cartographer/mapping_2d/sparse_pose_graph.h
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@ -86,7 +86,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
override;
std::vector<transform::Rigid3d> GetSubmapTransforms(
const mapping::Submaps& submaps) EXCLUDES(mutex_) override;
transform::Rigid3d GetOdometryToMapTransform(const mapping::Submaps& submaps)
transform::Rigid3d GetLocalToGlobalTransform(const mapping::Submaps& submaps)
EXCLUDES(mutex_) override;
std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
EXCLUDES(mutex_);

4
cartographer/mapping_3d/sparse_pose_graph.cc
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@ -88,7 +88,7 @@ int SparsePoseGraph::AddScan(
const kalman_filter::PoseCovariance& covariance, const Submaps* submaps,
const Submap* const matching_submap,
const std::vector<const Submap*>& insertion_submaps) {
const transform::Rigid3d optimized_pose(GetOdometryToMapTransform(*submaps) *
const transform::Rigid3d optimized_pose(GetLocalToGlobalTransform(*submaps) *
pose);
common::MutexLocker locker(&mutex_);
@ -401,7 +401,7 @@ std::vector<SparsePoseGraph::Constraint3D> SparsePoseGraph::constraints_3d() {
return constraints_;
}
transform::Rigid3d SparsePoseGraph::GetOdometryToMapTransform(
transform::Rigid3d SparsePoseGraph::GetLocalToGlobalTransform(
const mapping::Submaps& submaps) {
return GetSubmapTransforms(submaps).back() *
submaps.Get(submaps.size() - 1)->local_pose().inverse();

2
cartographer/mapping_3d/sparse_pose_graph.h
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@ -89,7 +89,7 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
override;
std::vector<transform::Rigid3d> GetSubmapTransforms(
const mapping::Submaps& submaps) EXCLUDES(mutex_) override;
transform::Rigid3d GetOdometryToMapTransform(const mapping::Submaps& submaps)
transform::Rigid3d GetLocalToGlobalTransform(const mapping::Submaps& submaps)
EXCLUDES(mutex_) override;
std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
EXCLUDES(mutex_);