Fix some nits. (#536)
Most importantly makes mapping_2d::SparsePoseGraph::GetLatestScanTime() private.master
parent
4fca78368d
commit
7d0e72dac2
cartographer
mapping
mapping_2d
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@ -37,7 +37,7 @@ using Levels = std::map<int, int>;
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constexpr double kMaxShortSpanLengthMeters = 25.;
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constexpr double kLevelHeightMeters = 2.5;
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constexpr double kMinLevelSeparationMeters = 1.0;
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constexpr double kMinLevelSeparationMeters = 1.;
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// Indices into 'trajectory.node', so that 'start_index' <= i < 'end_index'.
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struct Span {
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@ -187,7 +187,7 @@ TEST(FastCorrelativeScanMatcherTest, FullSubmapMatching) {
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unperturbed_point_cloud.emplace_back(0.f, 0.5f, 0.f);
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unperturbed_point_cloud.emplace_back(0.25f, 1.6f, 0.f);
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unperturbed_point_cloud.emplace_back(2.5f, 0.5f, 0.f);
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unperturbed_point_cloud.emplace_back(2.0f, 1.8f, 0.f);
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unperturbed_point_cloud.emplace_back(2.f, 1.8f, 0.f);
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for (int i = 0; i != 20; ++i) {
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const transform::Rigid2f perturbation(
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@ -35,7 +35,7 @@ namespace scan_matching {
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//
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// Returns true in the case of successful localization. The output parameters
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// should not be trusted if the function returns false. The 'cutoff' and
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// 'best_score' are in the range [0.0, 1.0].
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// 'best_score' are in the range [0., 1.].
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bool PerformGlobalLocalization(
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float cutoff, const cartographer::sensor::AdaptiveVoxelFilter& voxel_filter,
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const std::vector<
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@ -99,9 +99,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
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std::vector<std::vector<mapping::TrajectoryNode>> GetTrajectoryNodes()
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override EXCLUDES(mutex_);
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std::vector<Constraint> constraints() override EXCLUDES(mutex_);
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common::Time GetLatestScanTime(const mapping::NodeId& node_id,
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const mapping::SubmapId& submap_id) const
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REQUIRES(mutex_);
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private:
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// The current state of the submap in the background threads. When this
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@ -156,11 +153,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
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// optimization being run at a time.
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void RunOptimization() EXCLUDES(mutex_);
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// Updates the trajectory connectivity structure with the new constraints.
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void UpdateTrajectoryConnectivity(
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const sparse_pose_graph::ConstraintBuilder::Result& result)
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REQUIRES(mutex_);
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// Computes the local to global frame transform based on the given optimized
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// 'submap_transforms'.
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transform::Rigid3d ComputeLocalToGlobalTransform(
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@ -171,6 +163,15 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
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mapping::SparsePoseGraph::SubmapData GetSubmapDataUnderLock(
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const mapping::SubmapId& submap_id) REQUIRES(mutex_);
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common::Time GetLatestScanTime(const mapping::NodeId& node_id,
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const mapping::SubmapId& submap_id) const
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REQUIRES(mutex_);
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// Updates the trajectory connectivity structure with the new constraints.
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void UpdateTrajectoryConnectivity(
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const sparse_pose_graph::ConstraintBuilder::Result& result)
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REQUIRES(mutex_);
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const mapping::proto::SparsePoseGraphOptions options_;
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common::Mutex mutex_;
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