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Allow trimmer to get nodes/constraints. (#1034) 

* Allow trimmer to get nodes/constraints.

* Mark the methods const.
master
Alexander Belyaev 2018-04-04 12:50:12 +02:00 committed by GitHub
parent 41fc7e38cc
commit abb2661b76
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6 changed files with 35 additions and 0 deletions
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10
cartographer/mapping/internal/2d/pose_graph_2d.cc
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@ -798,6 +798,16 @@ std::vector<SubmapId> PoseGraph2D::TrimmingHandle::GetSubmapIds(
return submap_ids; return submap_ids;
} }
MapById<NodeId, TrajectoryNode>
PoseGraph2D::TrimmingHandle::GetTrajectoryNodes() const {
return parent_->trajectory_nodes_;
}
std::vector<PoseGraphInterface::Constraint>
PoseGraph2D::TrimmingHandle::GetConstraints() const {
return parent_->constraints_;
}
bool PoseGraph2D::TrimmingHandle::IsFinished(const int trajectory_id) const { bool PoseGraph2D::TrimmingHandle::IsFinished(const int trajectory_id) const {
return parent_->IsTrajectoryFinished(trajectory_id); return parent_->IsTrajectoryFinished(trajectory_id);
} }

2
cartographer/mapping/internal/2d/pose_graph_2d.h
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@ -283,6 +283,8 @@ class PoseGraph2D : public PoseGraph {
std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override; std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override;
MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData() MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
const override; const override;
MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override;
std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
void MarkSubmapAsTrimmed(const SubmapId& submap_id) void MarkSubmapAsTrimmed(const SubmapId& submap_id)
REQUIRES(parent_->mutex_) override; REQUIRES(parent_->mutex_) override;
bool IsFinished(int trajectory_id) const override; bool IsFinished(int trajectory_id) const override;

10
cartographer/mapping/internal/3d/pose_graph_3d.cc
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@ -828,6 +828,16 @@ PoseGraph3D::TrimmingHandle::GetAllSubmapData() const {
return parent_->GetSubmapDataUnderLock(); return parent_->GetSubmapDataUnderLock();
} }
MapById<NodeId, TrajectoryNode>
PoseGraph3D::TrimmingHandle::GetTrajectoryNodes() const {
return parent_->trajectory_nodes_;
}
std::vector<PoseGraphInterface::Constraint>
PoseGraph3D::TrimmingHandle::GetConstraints() const {
return parent_->constraints_;
}
bool PoseGraph3D::TrimmingHandle::IsFinished(const int trajectory_id) const { bool PoseGraph3D::TrimmingHandle::IsFinished(const int trajectory_id) const {
return parent_->IsTrajectoryFinished(trajectory_id); return parent_->IsTrajectoryFinished(trajectory_id);
} }

2
cartographer/mapping/internal/3d/pose_graph_3d.h
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@ -288,6 +288,8 @@ class PoseGraph3D : public PoseGraph {
std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override; std::vector<SubmapId> GetSubmapIds(int trajectory_id) const override;
MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData() MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
const override; const override;
MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override;
std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
void MarkSubmapAsTrimmed(const SubmapId& submap_id) void MarkSubmapAsTrimmed(const SubmapId& submap_id)
REQUIRES(parent_->mutex_) override; REQUIRES(parent_->mutex_) override;
bool IsFinished(int trajectory_id) const override; bool IsFinished(int trajectory_id) const override;

3
cartographer/mapping/pose_graph_trimmer.h
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@ -34,6 +34,9 @@ class Trimmable {
virtual std::vector<SubmapId> GetSubmapIds(int trajectory_id) const = 0; virtual std::vector<SubmapId> GetSubmapIds(int trajectory_id) const = 0;
virtual MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData() virtual MapById<SubmapId, PoseGraphInterface::SubmapData> GetAllSubmapData()
const = 0; const = 0;
virtual MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const = 0;
virtual std::vector<PoseGraphInterface::Constraint> GetConstraints()
const = 0;
// Marks 'submap_id' and corresponding intra-submap nodes as trimmed. They // Marks 'submap_id' and corresponding intra-submap nodes as trimmed. They
// will no longer take part in scan matching, loop closure, visualization. // will no longer take part in scan matching, loop closure, visualization.

8
cartographer/mapping/pose_graph_trimmer_test.cc
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@ -47,6 +47,14 @@ class FakePoseGraph : public Trimmable {
return {}; return {};
} }
MapById<NodeId, TrajectoryNode> GetTrajectoryNodes() const override {
return {};
}
std::vector<PoseGraphInterface::Constraint> GetConstraints() const override {
return {};
}
void MarkSubmapAsTrimmed(const SubmapId& submap_id) override { void MarkSubmapAsTrimmed(const SubmapId& submap_id) override {
trimmed_submaps_.push_back(submap_id); trimmed_submaps_.push_back(submap_id);
} }