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Split local_slam_result_data.h into base and 2d/3d parts. (#967)

master
Alexander Belyaev 2018-03-08 15:17:31 +01:00 committed by GitHub
parent b29986f297
commit bb4ba8b319
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7 changed files with 142 additions and 60 deletions
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1
cartographer/cloud/internal/client/trajectory_builder_stub.cc
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@ -19,6 +19,7 @@
#include "cartographer/cloud/internal/sensor/serialization.h"
#include "cartographer/cloud/proto/map_builder_service.pb.h"
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/transform/transform.h"
#include "glog/logging.h"
namespace cartographer {

2
cartographer/cloud/internal/map_builder_context.cc
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@ -17,6 +17,8 @@
#include "cartographer/cloud/internal/map_builder_context.h"
#include "cartographer/cloud/internal/map_builder_server.h"
#include "cartographer/mapping/2d/local_slam_result_2d.h"
#include "cartographer/mapping/3d/local_slam_result_3d.h"
namespace cartographer {
namespace cloud {

21
cartographer/mapping/local_slam_result_data.cc → cartographer/mapping/2d/local_slam_result_2d.cc
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@ -14,10 +14,8 @@
* limitations under the License.
*/
#include "local_slam_result_data.h"
#include "cartographer/mapping/2d/local_slam_result_2d.h"
#include "cartographer/mapping/2d/pose_graph_2d.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
namespace cartographer {
namespace mapping {
@ -31,21 +29,8 @@ void LocalSlamResult2D::AddToTrajectoryBuilder(
void LocalSlamResult2D::AddToPoseGraph(int trajectory_id,
PoseGraph* pose_graph) const {
DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph));
PoseGraph2D* pose_graph_2d = static_cast<PoseGraph2D*>(pose_graph);
pose_graph_2d->AddNode(node_data_, trajectory_id, insertion_submaps_);
}
void LocalSlamResult3D::AddToTrajectoryBuilder(
TrajectoryBuilderInterface* const trajectory_builder) {
trajectory_builder->AddLocalSlamResultData(
common::make_unique<LocalSlamResult3D>(*this));
}
void LocalSlamResult3D::AddToPoseGraph(int trajectory_id,
PoseGraph* pose_graph) const {
DCHECK(dynamic_cast<PoseGraph3D*>(pose_graph));
PoseGraph3D* pose_graph_3d = static_cast<PoseGraph3D*>(pose_graph);
pose_graph_3d->AddNode(node_data_, trajectory_id, insertion_submaps_);
static_cast<PoseGraph2D*>(pose_graph)
->AddNode(node_data_, trajectory_id, insertion_submaps_);
}
} // namespace mapping

49
cartographer/mapping/2d/local_slam_result_2d.h Normal file
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@ -0,0 +1,49 @@
/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_2D_LOCAL_SLAM_RESULT_2D_H_
#define CARTOGRAPHER_MAPPING_2D_LOCAL_SLAM_RESULT_2D_H_
#include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
namespace cartographer {
namespace mapping {
class LocalSlamResult2D : public LocalSlamResultData {
public:
LocalSlamResult2D(
const std::string& sensor_id, common::Time time,
std::shared_ptr<const TrajectoryNode::Data> node_data,
const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps)
: LocalSlamResultData(sensor_id, time),
node_data_(node_data),
insertion_submaps_(insertion_submaps) {}
void AddToTrajectoryBuilder(
TrajectoryBuilderInterface* const trajectory_builder) override;
void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
private:
std::shared_ptr<const TrajectoryNode::Data> node_data_;
std::vector<std::shared_ptr<const Submap2D>> insertion_submaps_;
};
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_2D_LOCAL_SLAM_RESULT_2D_H_

37
cartographer/mapping/3d/local_slam_result_3d.cc Normal file
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@ -0,0 +1,37 @@
/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/mapping/3d/local_slam_result_3d.h"
#include "cartographer/mapping/3d/pose_graph_3d.h"
namespace cartographer {
namespace mapping {
void LocalSlamResult3D::AddToTrajectoryBuilder(
TrajectoryBuilderInterface* const trajectory_builder) {
trajectory_builder->AddLocalSlamResultData(
common::make_unique<LocalSlamResult3D>(*this));
}
void LocalSlamResult3D::AddToPoseGraph(int trajectory_id,
PoseGraph* pose_graph) const {
DCHECK(dynamic_cast<PoseGraph3D*>(pose_graph));
static_cast<PoseGraph3D*>(pose_graph)
->AddNode(node_data_, trajectory_id, insertion_submaps_);
}
} // namespace mapping
} // namespace cartographer

49
cartographer/mapping/3d/local_slam_result_3d.h Normal file
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@ -0,0 +1,49 @@
/*
* Copyright 2018 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_MAPPING_3D_LOCAL_SLAM_RESULT_3D_H_
#define CARTOGRAPHER_MAPPING_3D_LOCAL_SLAM_RESULT_3D_H_
#include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
namespace cartographer {
namespace mapping {
class LocalSlamResult3D : public LocalSlamResultData {
public:
LocalSlamResult3D(
const std::string& sensor_id, common::Time time,
std::shared_ptr<const TrajectoryNode::Data> node_data,
const std::vector<std::shared_ptr<const Submap3D>>& insertion_submaps)
: LocalSlamResultData(sensor_id, time),
node_data_(node_data),
insertion_submaps_(insertion_submaps) {}
void AddToTrajectoryBuilder(
TrajectoryBuilderInterface* const trajectory_builder) override;
void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
private:
std::shared_ptr<const TrajectoryNode::Data> node_data_;
std::vector<std::shared_ptr<const Submap3D>> insertion_submaps_;
};
} // namespace mapping
} // namespace cartographer
#endif // CARTOGRAPHER_MAPPING_3D_LOCAL_SLAM_RESULT_3D_H_

43
cartographer/mapping/local_slam_result_data.h
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@ -17,16 +17,13 @@
#ifndef CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
#define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H
#include "cartographer/mapping/2d/submap_2d.h"
#include "cartographer/mapping/3d/submap_3d.h"
#include "cartographer/mapping/pose_graph.h"
#include "cartographer/sensor/data.h"
namespace cartographer {
namespace mapping {
class TrajectoryBuilderInterface;
class LocalSlamResultData : public cartographer::sensor::Data {
class LocalSlamResultData : public sensor::Data {
public:
LocalSlamResultData(const std::string& sensor_id, common::Time time)
: Data(sensor_id), time_(time) {}
@ -39,44 +36,6 @@ class LocalSlamResultData : public cartographer::sensor::Data {
common::Time time_;
};
class LocalSlamResult2D : public LocalSlamResultData {
public:
LocalSlamResult2D(
const std::string& sensor_id, common::Time time,
std::shared_ptr<const TrajectoryNode::Data> node_data,
const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps)
: LocalSlamResultData(sensor_id, time),
node_data_(node_data),
insertion_submaps_(insertion_submaps) {}
void AddToTrajectoryBuilder(
TrajectoryBuilderInterface* const trajectory_builder) override;
void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
private:
std::shared_ptr<const TrajectoryNode::Data> node_data_;
std::vector<std::shared_ptr<const Submap2D>> insertion_submaps_;
};
class LocalSlamResult3D : public LocalSlamResultData {
public:
LocalSlamResult3D(
const std::string& sensor_id, common::Time time,
std::shared_ptr<const TrajectoryNode::Data> node_data,
const std::vector<std::shared_ptr<const Submap3D>>& insertion_submaps)
: LocalSlamResultData(sensor_id, time),
node_data_(node_data),
insertion_submaps_(insertion_submaps) {}
void AddToTrajectoryBuilder(
TrajectoryBuilderInterface* const trajectory_builder) override;
void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
private:
std::shared_ptr<const TrajectoryNode::Data> node_data_;
std::vector<std::shared_ptr<const Submap3D>> insertion_submaps_;
};
} // namespace mapping
} // namespace cartographer