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Remove the pointers to the derived PoseGraph*D classes from map_builder. (#966)

master
Alexander Belyaev 2018-03-08 14:49:41 +01:00 committed by GitHub
parent 20a980aade
commit b29986f297
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2 changed files with 17 additions and 16 deletions
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26
cartographer/mapping/map_builder.cc
View File

@ -24,6 +24,8 @@
#include "cartographer/common/make_unique.h" #include "cartographer/common/make_unique.h"
#include "cartographer/common/time.h" #include "cartographer/common/time.h"
#include "cartographer/mapping/2d/pose_graph_2d.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
#include "cartographer/mapping/collated_trajectory_builder.h" #include "cartographer/mapping/collated_trajectory_builder.h"
#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h" #include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h" #include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
@ -58,14 +60,12 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
MapBuilder::MapBuilder(const proto::MapBuilderOptions& options) MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
: options_(options), thread_pool_(options.num_background_threads()) { : options_(options), thread_pool_(options.num_background_threads()) {
if (options.use_trajectory_builder_2d()) { if (options.use_trajectory_builder_2d()) {
pose_graph_2d_ = common::make_unique<PoseGraph2D>( pose_graph_ = common::make_unique<PoseGraph2D>(
options_.pose_graph_options(), &thread_pool_); options_.pose_graph_options(), &thread_pool_);
pose_graph_ = pose_graph_2d_.get();
} }
if (options.use_trajectory_builder_3d()) { if (options.use_trajectory_builder_3d()) {
pose_graph_3d_ = common::make_unique<PoseGraph3D>( pose_graph_ = common::make_unique<PoseGraph3D>(
options_.pose_graph_options(), &thread_pool_); options_.pose_graph_options(), &thread_pool_);
pose_graph_ = pose_graph_3d_.get();
} }
if (options.collate_by_trajectory()) { if (options.collate_by_trajectory()) {
sensor_collator_ = common::make_unique<sensor::TrajectoryCollator>(); sensor_collator_ = common::make_unique<sensor::TrajectoryCollator>();
@ -85,24 +85,28 @@ int MapBuilder::AddTrajectoryBuilder(
local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder3D>( local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder3D>(
trajectory_options.trajectory_builder_3d_options()); trajectory_options.trajectory_builder_3d_options());
} }
DCHECK(dynamic_cast<PoseGraph3D*>(pose_graph_.get()));
trajectory_builders_.push_back( trajectory_builders_.push_back(
common::make_unique<CollatedTrajectoryBuilder>( common::make_unique<CollatedTrajectoryBuilder>(
sensor_collator_.get(), trajectory_id, expected_sensor_ids, sensor_collator_.get(), trajectory_id, expected_sensor_ids,
CreateGlobalTrajectoryBuilder3D(std::move(local_trajectory_builder), CreateGlobalTrajectoryBuilder3D(
trajectory_id, pose_graph_3d_.get(), std::move(local_trajectory_builder), trajectory_id,
local_slam_result_callback))); static_cast<PoseGraph3D*>(pose_graph_.get()),
local_slam_result_callback)));
} else { } else {
std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder; std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder;
if (trajectory_options.has_trajectory_builder_2d_options()) { if (trajectory_options.has_trajectory_builder_2d_options()) {
local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder2D>( local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder2D>(
trajectory_options.trajectory_builder_2d_options()); trajectory_options.trajectory_builder_2d_options());
} }
DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph_.get()));
trajectory_builders_.push_back( trajectory_builders_.push_back(
common::make_unique<CollatedTrajectoryBuilder>( common::make_unique<CollatedTrajectoryBuilder>(
sensor_collator_.get(), trajectory_id, expected_sensor_ids, sensor_collator_.get(), trajectory_id, expected_sensor_ids,
CreateGlobalTrajectoryBuilder2D(std::move(local_trajectory_builder), CreateGlobalTrajectoryBuilder2D(
trajectory_id, pose_graph_2d_.get(), std::move(local_trajectory_builder), trajectory_id,
local_slam_result_callback))); static_cast<PoseGraph2D*>(pose_graph_.get()),
local_slam_result_callback)));
} }
if (trajectory_options.pure_localization()) { if (trajectory_options.pure_localization()) {
constexpr int kSubmapsToKeep = 3; constexpr int kSubmapsToKeep = 3;
@ -411,7 +415,7 @@ int MapBuilder::num_trajectory_builders() const {
return trajectory_builders_.size(); return trajectory_builders_.size();
} }
PoseGraphInterface* MapBuilder::pose_graph() { return pose_graph_; } PoseGraphInterface* MapBuilder::pose_graph() { return pose_graph_.get(); }
const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>& const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>&
MapBuilder::GetAllTrajectoryBuilderOptions() const { MapBuilder::GetAllTrajectoryBuilderOptions() const {

7
cartographer/mapping/map_builder.h
View File

@ -23,8 +23,7 @@
#include <set> #include <set>
#include "cartographer/common/thread_pool.h" #include "cartographer/common/thread_pool.h"
#include "cartographer/mapping/2d/pose_graph_2d.h" #include "cartographer/mapping/pose_graph.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
#include "cartographer/mapping/proto/map_builder_options.pb.h" #include "cartographer/mapping/proto/map_builder_options.pb.h"
#include "cartographer/sensor/collator_interface.h" #include "cartographer/sensor/collator_interface.h"
@ -77,9 +76,7 @@ class MapBuilder : public MapBuilderInterface {
const proto::MapBuilderOptions options_; const proto::MapBuilderOptions options_;
common::ThreadPool thread_pool_; common::ThreadPool thread_pool_;
std::unique_ptr<PoseGraph2D> pose_graph_2d_; std::unique_ptr<PoseGraph> pose_graph_;
std::unique_ptr<PoseGraph3D> pose_graph_3d_;
mapping::PoseGraph* pose_graph_;
std::unique_ptr<sensor::CollatorInterface> sensor_collator_; std::unique_ptr<sensor::CollatorInterface> sensor_collator_;
std::vector<std::unique_ptr<mapping::TrajectoryBuilderInterface>> std::vector<std::unique_ptr<mapping::TrajectoryBuilderInterface>>