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Renames expect_imu to use_imu. (#24)

master
Damon Kohler 2016-09-08 16:36:05 +02:00 committed by GitHub
parent fc166fdefa
commit 83a29df102
3 changed files with 6 additions and 8 deletions
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8
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -54,7 +54,7 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
parameter_dictionary->GetDictionary("pose_tracker").get()); parameter_dictionary->GetDictionary("pose_tracker").get());
*options.mutable_submaps_options() = CreateSubmapsOptions( *options.mutable_submaps_options() = CreateSubmapsOptions(
parameter_dictionary->GetDictionary("submaps").get()); 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; return options;
} }
@ -148,7 +148,7 @@ std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
LocalTrajectoryBuilder::AddHorizontalLaserFan( LocalTrajectoryBuilder::AddHorizontalLaserFan(
const common::Time time, const sensor::LaserFan3D& laser_fan) { const common::Time time, const sensor::LaserFan3D& laser_fan) {
// Initialize pose tracker now if we do not ever use an IMU. // Initialize pose tracker now if we do not ever use an IMU.
if (!options_.expect_imu_data()) { if (!options_.use_imu_data()) {
InitializePoseTracker(time); InitializePoseTracker(time);
} }
@ -236,9 +236,7 @@ LocalTrajectoryBuilder::pose_estimate() const {
void LocalTrajectoryBuilder::AddImuData( void LocalTrajectoryBuilder::AddImuData(
const common::Time time, const Eigen::Vector3d& linear_acceleration, const common::Time time, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) { const Eigen::Vector3d& angular_velocity) {
CHECK(options_.expect_imu_data()) CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added.";
<< "An IMU packet was added, but the IMU is not in the "
"sensor_configuration.";
InitializePoseTracker(time); InitializePoseTracker(time);
pose_tracker_->AddImuLinearAccelerationObservation(time, linear_acceleration); pose_tracker_->AddImuLinearAccelerationObservation(time, linear_acceleration);

4
cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
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@ -48,6 +48,6 @@ message LocalTrajectoryBuilderOptions {
optional kalman_filter.proto.PoseTrackerOptions pose_tracker_options = 10; optional kalman_filter.proto.PoseTrackerOptions pose_tracker_options = 10;
optional mapping_2d.proto.SubmapsOptions submaps_options = 11; optional mapping_2d.proto.SubmapsOptions submaps_options = 11;
// True if an IMU is configured in the sensor data. // True if IMU data should be expected and used.
optional bool expect_imu_data = 12; optional bool use_imu_data = 12;
} }

2
configuration_files/trajectory_builder_2d.lua
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@ -13,7 +13,7 @@
-- limitations under the License. -- limitations under the License.
TRAJECTORY_BUILDER_2D = { TRAJECTORY_BUILDER_2D = {
expect_imu_data = true, use_imu_data = true,
horizontal_laser_min_z = -0.8, horizontal_laser_min_z = -0.8,
horizontal_laser_max_z = 2., horizontal_laser_max_z = 2.,
horizontal_laser_voxel_filter_size = 0.025, horizontal_laser_voxel_filter_size = 0.025,