From 83a29df10285ffc7d6a5c16a4feb622477c9eb8d Mon Sep 17 00:00:00 2001 From: Damon Kohler Date: Thu, 8 Sep 2016 16:36:05 +0200 Subject: [PATCH] Renames expect_imu to use_imu. (#24) --- cartographer/mapping_2d/local_trajectory_builder.cc | 8 +++----- .../proto/local_trajectory_builder_options.proto | 4 ++-- configuration_files/trajectory_builder_2d.lua | 2 +- 3 files changed, 6 insertions(+), 8 deletions(-) diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc index e6c6e3a..6d6fa50 100644 --- a/cartographer/mapping_2d/local_trajectory_builder.cc +++ b/cartographer/mapping_2d/local_trajectory_builder.cc @@ -54,7 +54,7 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions( parameter_dictionary->GetDictionary("pose_tracker").get()); *options.mutable_submaps_options() = CreateSubmapsOptions( parameter_dictionary->GetDictionary("submaps").get()); - options.set_expect_imu_data(parameter_dictionary->GetBool("expect_imu_data")); + options.set_use_imu_data(parameter_dictionary->GetBool("use_imu_data")); return options; } @@ -148,7 +148,7 @@ std::unique_ptr LocalTrajectoryBuilder::AddHorizontalLaserFan( const common::Time time, const sensor::LaserFan3D& laser_fan) { // Initialize pose tracker now if we do not ever use an IMU. - if (!options_.expect_imu_data()) { + if (!options_.use_imu_data()) { InitializePoseTracker(time); } @@ -236,9 +236,7 @@ LocalTrajectoryBuilder::pose_estimate() const { void LocalTrajectoryBuilder::AddImuData( const common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity) { - CHECK(options_.expect_imu_data()) - << "An IMU packet was added, but the IMU is not in the " - "sensor_configuration."; + CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added."; InitializePoseTracker(time); pose_tracker_->AddImuLinearAccelerationObservation(time, linear_acceleration); diff --git a/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto b/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto index 6bac10d..fdccb2d 100644 --- a/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto +++ b/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto @@ -48,6 +48,6 @@ message LocalTrajectoryBuilderOptions { optional kalman_filter.proto.PoseTrackerOptions pose_tracker_options = 10; optional mapping_2d.proto.SubmapsOptions submaps_options = 11; - // True if an IMU is configured in the sensor data. - optional bool expect_imu_data = 12; + // True if IMU data should be expected and used. + optional bool use_imu_data = 12; } diff --git a/configuration_files/trajectory_builder_2d.lua b/configuration_files/trajectory_builder_2d.lua index 35d605d..e101b03 100644 --- a/configuration_files/trajectory_builder_2d.lua +++ b/configuration_files/trajectory_builder_2d.lua @@ -13,7 +13,7 @@ -- limitations under the License. TRAJECTORY_BUILDER_2D = { - expect_imu_data = true, + use_imu_data = true, horizontal_laser_min_z = -0.8, horizontal_laser_max_z = 2., horizontal_laser_voxel_filter_size = 0.025,