From 894bad397ddf723a57682ab36ebc451ced8dfb2e Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Thu, 25 Jan 2018 12:10:30 +0100
Subject: [PATCH] Rename Landmark->LandmarkObservation. (#847)

---
 cartographer/sensor/landmark_data.cc      | 16 ++++++++--------
 cartographer/sensor/landmark_data.h       |  4 ++--
 cartographer/sensor/landmark_data_test.cc | 23 ++++++++++++-----------
 cartographer/sensor/proto/sensor.proto    |  4 ++--
 4 files changed, 24 insertions(+), 23 deletions(-)

diff --git a/cartographer/sensor/landmark_data.cc b/cartographer/sensor/landmark_data.cc
index 71555dd..4f9fbc9 100644
--- a/cartographer/sensor/landmark_data.cc
+++ b/cartographer/sensor/landmark_data.cc
@@ -24,13 +24,13 @@ namespace sensor {
 proto::LandmarkData ToProto(const LandmarkData& landmark_data) {
   proto::LandmarkData proto;
   proto.set_timestamp(common::ToUniversal(landmark_data.time));
-  for (const Landmark& landmark : landmark_data.landmarks) {
-    auto* item = proto.add_landmarks();
-    item->set_id(landmark.id);
+  for (const auto& observation : landmark_data.landmark_observations) {
+    auto* item = proto.add_landmark_observations();
+    item->set_id(observation.id);
     *item->mutable_landmark_to_tracking_transform() =
-        transform::ToProto(landmark.landmark_to_tracking_transform);
-    item->set_translation_weight(landmark.translation_weight);
-    item->set_rotation_weight(landmark.rotation_weight);
+        transform::ToProto(observation.landmark_to_tracking_transform);
+    item->set_translation_weight(observation.translation_weight);
+    item->set_rotation_weight(observation.rotation_weight);
   }
   return proto;
 }
@@ -38,8 +38,8 @@ proto::LandmarkData ToProto(const LandmarkData& landmark_data) {
 LandmarkData FromProto(const proto::LandmarkData& proto) {
   LandmarkData landmark_data;
   landmark_data.time = common::FromUniversal(proto.timestamp());
-  for (const auto& item : proto.landmarks()) {
-    landmark_data.landmarks.push_back({
+  for (const auto& item : proto.landmark_observations()) {
+    landmark_data.landmark_observations.push_back({
         item.id(),
         transform::ToRigid3(item.landmark_to_tracking_transform()),
         item.translation_weight(),
diff --git a/cartographer/sensor/landmark_data.h b/cartographer/sensor/landmark_data.h
index c03be2d..ddab8ba 100644
--- a/cartographer/sensor/landmark_data.h
+++ b/cartographer/sensor/landmark_data.h
@@ -29,7 +29,7 @@
 namespace cartographer {
 namespace sensor {
 
-struct Landmark {
+struct LandmarkObservation {
   std::string id;
   transform::Rigid3d landmark_to_tracking_transform;
   double translation_weight;
@@ -38,7 +38,7 @@ struct Landmark {
 
 struct LandmarkData {
   common::Time time;
-  std::vector<Landmark> landmarks;
+  std::vector<LandmarkObservation> landmark_observations;
 };
 
 // Converts 'landmark_data' to a proto::LandmarkData.
diff --git a/cartographer/sensor/landmark_data_test.cc b/cartographer/sensor/landmark_data_test.cc
index 112e6ad..0859ab6 100644
--- a/cartographer/sensor/landmark_data_test.cc
+++ b/cartographer/sensor/landmark_data_test.cc
@@ -30,21 +30,22 @@ namespace {
 using ::testing::DoubleNear;
 using ::testing::Field;
 
-::testing::Matcher<const Landmark&> EqualsLandmark(const Landmark& expected) {
+::testing::Matcher<const LandmarkObservation&> EqualsLandmark(
+    const LandmarkObservation& expected) {
   return ::testing::AllOf(
-      Field(&Landmark::id, expected.id),
-      Field(&Landmark::landmark_to_tracking_transform,
+      Field(&LandmarkObservation::id, expected.id),
+      Field(&LandmarkObservation::landmark_to_tracking_transform,
             transform::IsNearly(expected.landmark_to_tracking_transform, 1e-2)),
-      Field(&Landmark::translation_weight,
+      Field(&LandmarkObservation::translation_weight,
             DoubleNear(expected.translation_weight, 0.01)),
-      Field(&Landmark::rotation_weight,
+      Field(&LandmarkObservation::rotation_weight,
             DoubleNear(expected.rotation_weight, 0.01)));
 }
 
 class LandmarkDataTest : public ::testing::Test {
  protected:
   LandmarkDataTest()
-      : landmarks_(
+      : observations_(
             {{
                  "ID1",
                  transform::Rigid3d(Eigen::Vector3d(1., 1., 1.),
@@ -59,16 +60,16 @@ class LandmarkDataTest : public ::testing::Test {
                  2.f,
                  4.f,
              }}) {}
-  std::vector<Landmark> landmarks_;
+  std::vector<LandmarkObservation> observations_;
 };
 
 TEST_F(LandmarkDataTest, LandmarkDataToAndFromProto) {
-  const auto expected = LandmarkData{common::FromUniversal(50), landmarks_};
+  const auto expected = LandmarkData{common::FromUniversal(50), observations_};
   const auto actual = FromProto(ToProto(expected));
   EXPECT_EQ(expected.time, actual.time);
-  EXPECT_THAT(actual.landmarks,
-              ElementsAre(EqualsLandmark(expected.landmarks[0]),
-                          EqualsLandmark(expected.landmarks[1])));
+  EXPECT_THAT(actual.landmark_observations,
+              ElementsAre(EqualsLandmark(expected.landmark_observations[0]),
+                          EqualsLandmark(expected.landmark_observations[1])));
 }
 
 }  // namespace
diff --git a/cartographer/sensor/proto/sensor.proto b/cartographer/sensor/proto/sensor.proto
index b4918a7..175775f 100644
--- a/cartographer/sensor/proto/sensor.proto
+++ b/cartographer/sensor/proto/sensor.proto
@@ -61,12 +61,12 @@ message FixedFramePoseData {
 
 // Proto representation of ::cartographer::sensor::LandmarkData.
 message LandmarkData {
-  message Landmark {
+  message LandmarkObservation {
     bytes id = 1;
     transform.proto.Rigid3d landmark_to_tracking_transform = 2;
     double translation_weight = 3;
     double rotation_weight = 4;
   }
   int64 timestamp = 1;
-  repeated Landmark landmarks = 2;
+  repeated LandmarkObservation landmark_observations = 2;
 }