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Move scan matchers to internal/. (#983)

master
Alexander Belyaev 2018-03-13 10:21:27 +01:00 committed by GitHub
parent 70c7660348
commit 976736051c
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GPG Key ID: 4AEE18F83AFDEB23
47 changed files with 99 additions and 99 deletions
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4
cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
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@ -22,9 +22,9 @@
#include "cartographer/common/time.h"
#include "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.pb.h"
#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/motion_filter.h"
#include "cartographer/mapping/pose_extrapolator.h"
#include "cartographer/metrics/family_factory.h"

4
cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
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@ -16,9 +16,9 @@
#include "cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h"
#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/motion_filter.h"
#include "cartographer/sensor/voxel_filter.h"

4
cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
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@ -30,9 +30,9 @@
#include "cartographer/common/math.h"
#include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.h"
#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/metrics/family_factory.h"

6
cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc → cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
#include <utility>
#include <vector>
@ -23,9 +23,9 @@
#include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h"
#include "cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h"
#include "cartographer/transform/transform.h"
#include "ceres/ceres.h"
#include "glog/logging.h"

6
cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h → cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
#include <memory>
#include <vector>
@ -62,4 +62,4 @@ class CeresScanMatcher2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_

2
cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc → cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
#include <memory>

2
cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc → cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
#include <cmath>

6
cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h → cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
#include <vector>
@ -106,4 +106,4 @@ struct Candidate2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_

2
cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc → cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/sensor/point_cloud.h"
#include "gtest/gtest.h"

2
cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc → cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include <algorithm>
#include <cmath>

8
cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h → cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h
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@ -22,8 +22,8 @@
// precomputation done for a given map. However, this map is immutable after
// construction.
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
#include <memory>
#include <vector>
@ -31,8 +31,8 @@
#include "Eigen/Core"
#include "cartographer/common/port.h"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h"
#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/mapping/probability_values.h"
#include "cartographer/sensor/point_cloud.h"
@ -153,4 +153,4 @@ class FastCorrelativeScanMatcher2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_

2
cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc → cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include <algorithm>
#include <cmath>

2
cartographer/mapping/2d/scan_matching/fast_global_localizer.cc → cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/fast_global_localizer.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h"
#include "glog/logging.h"

8
cartographer/mapping/2d/scan_matching/fast_global_localizer.h → cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h
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@ -14,13 +14,13 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
#include <vector>
#include "Eigen/Geometry"
#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/sensor/voxel_filter.h"
namespace cartographer {
@ -46,4 +46,4 @@ bool PerformGlobalLocalization(
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_

2
cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc → cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include <algorithm>
#include <cmath>

8
cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h → cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
// This is an implementation of the algorithm described in "Real-Time
// Correlative Scan Matching" by Olson.
@ -42,7 +42,7 @@
#include "Eigen/Core"
#include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
#include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
@ -90,4 +90,4 @@ class RealTimeCorrelativeScanMatcher2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_

2
cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc → cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include <cmath>
#include <memory>

6
cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h → cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
#include "Eigen/Core"
@ -57,4 +57,4 @@ class RotationDeltaCostFunctor2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_

6
cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h → cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
#include "Eigen/Core"
@ -64,4 +64,4 @@ class TranslationDeltaCostFunctor2D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_

2
cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
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@ -23,7 +23,7 @@
#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
#include "cartographer/mapping/3d/proto/submaps_options_3d.pb.h"
#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
#include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
#include "glog/logging.h"

4
cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
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@ -22,9 +22,9 @@
#include "cartographer/common/time.h"
#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/internal/motion_filter.h"
#include "cartographer/mapping/pose_extrapolator.h"
#include "cartographer/metrics/family_factory.h"

2
cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
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@ -16,8 +16,8 @@
#include "cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h"
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/internal/motion_filter.h"
#include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
#include "cartographer/sensor/voxel_filter.h"

4
cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
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@ -31,9 +31,9 @@
#include "cartographer/common/math.h"
#include "cartographer/common/mutex.h"
#include "cartographer/common/thread_pool.h"
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer/mapping/trajectory_node.h"

6
cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc → cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
#include <string>
#include <utility>
@ -22,10 +22,10 @@
#include "cartographer/common/ceres_solver_options.h"
#include "cartographer/common/make_unique.h"
#include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h"
#include "cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h"
#include "cartographer/mapping/internal/3d/rotation_parameterization.h"
#include "cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h"
#include "cartographer/mapping/internal/pose_graph/ceres_pose.h"
#include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h"

6
cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h → cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
#include <utility>
#include <vector>
@ -64,4 +64,4 @@ class CeresScanMatcher3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_

2
cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc → cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
#include <memory>

6
cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc → cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include <algorithm>
#include <cmath>
@ -24,9 +24,9 @@
#include "Eigen/Geometry"
#include "cartographer/common/make_unique.h"
#include "cartographer/common/math.h"
#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h"
#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
#include "cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h"
#include "cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h"
#include "cartographer/transform/transform.h"
#include "glog/logging.h"

10
cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h → cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h
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@ -17,18 +17,18 @@
// This is an implementation of a 3D branch-and-bound algorithm similar to
// FastCorrelativeScanMatcher2D.
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
#include <memory>
#include <vector>
#include "Eigen/Core"
#include "cartographer/common/port.h"
#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
#include "cartographer/mapping/trajectory_node.h"
#include "cartographer/sensor/point_cloud.h"
@ -138,4 +138,4 @@ class FastCorrelativeScanMatcher3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_

2
cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc → cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include <algorithm>
#include <cmath>

6
cartographer/mapping/3d/scan_matching/interpolated_grid.h → cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
#include <cmath>
@ -152,4 +152,4 @@ class InterpolatedGrid {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_

2
cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc → cartographer/mapping/internal/3d/scan_matching/interpolated_grid_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
#include "cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h"
#include "Eigen/Core"
#include "cartographer/mapping/3d/hybrid_grid.h"

2
cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc → cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h"
#include "cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h"
namespace cartographer {
namespace mapping {

6
cartographer/mapping/3d/scan_matching/low_resolution_matcher.h → cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
#include <functional>
@ -34,4 +34,4 @@ std::function<float(const transform::Rigid3f&)> CreateLowResolutionMatcher(
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_

2
cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
View File

@ -19,7 +19,7 @@
#include "Eigen/Core"
#include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
#include "cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h"

2
cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc → cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h"
#include <algorithm>

6
cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h → cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
#include "cartographer/mapping/3d/hybrid_grid.h"
@ -53,4 +53,4 @@ PrecomputationGrid3D PrecomputeGrid(const PrecomputationGrid3D& grid,
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_

2
cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc → cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d_test.cc
View File

@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h"
#include <random>
#include <tuple>

2
cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc → cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
#include <cmath>

6
cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h → cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
#include <vector>
@ -63,4 +63,4 @@ class RealTimeCorrelativeScanMatcher3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_

4
cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc → cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
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@ -14,14 +14,14 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
#include <memory>
#include "Eigen/Core"
#include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/3d/hybrid_grid.h"
#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
#include "cartographer/sensor/point_cloud.h"
#include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/rigid_transform_test_helpers.h"

6
cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h → cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h
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@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
#include <cmath>
@ -79,4 +79,4 @@ class RotationDeltaCostFunctor3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_

2
cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc → cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
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@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h"
#include "gtest/gtest.h"

2
cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc → cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.cc
View File

@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
#include <map>
#include <vector>

6
cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h → cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
#include <vector>
@ -54,4 +54,4 @@ class RotationalScanMatcher {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_

2
cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc → cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher_test.cc
View File

@ -14,7 +14,7 @@
* limitations under the License.
*/
#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
#include <cmath>

6
cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h → cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
View File

@ -14,8 +14,8 @@
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
#include "Eigen/Core"
@ -67,4 +67,4 @@ class TranslationDeltaCostFunctor3D {
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
#endif // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_

8
cartographer/mapping/internal/pose_graph/constraint_builder.cc
View File

@ -16,10 +16,10 @@
#include "cartographer/mapping/internal/pose_graph/constraint_builder.h"
#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
#include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
#include "cartographer/sensor/voxel_filter.h"
namespace cartographer {