From c386bf050dcd82b17b34dd0e4e0324b02047ccd1 Mon Sep 17 00:00:00 2001 From: Damon Kohler Date: Mon, 21 Nov 2016 08:27:19 +0100 Subject: [PATCH] Renames Odometry to Odometer. (#135) --- cartographer/mapping/collated_trajectory_builder.cc | 6 +++--- .../mapping/global_trajectory_builder_interface.h | 2 +- cartographer/mapping/trajectory_builder.h | 4 ++-- cartographer/mapping_2d/global_trajectory_builder.cc | 4 ++-- cartographer/mapping_2d/global_trajectory_builder.h | 2 +- cartographer/mapping_2d/local_trajectory_builder.cc | 2 +- cartographer/mapping_2d/local_trajectory_builder.h | 2 +- cartographer/mapping_3d/global_trajectory_builder.cc | 4 ++-- cartographer/mapping_3d/global_trajectory_builder.h | 2 +- .../mapping_3d/kalman_local_trajectory_builder.cc | 2 +- .../mapping_3d/kalman_local_trajectory_builder.h | 2 +- .../mapping_3d/local_trajectory_builder_interface.h | 2 +- .../optimizing_local_trajectory_builder.cc | 2 +- .../mapping_3d/optimizing_local_trajectory_builder.h | 2 +- cartographer/sensor/collator_test.cc | 2 +- cartographer/sensor/data.h | 12 +++++++----- 16 files changed, 27 insertions(+), 25 deletions(-) diff --git a/cartographer/mapping/collated_trajectory_builder.cc b/cartographer/mapping/collated_trajectory_builder.cc index a55c491..dbf9c00 100644 --- a/cartographer/mapping/collated_trajectory_builder.cc +++ b/cartographer/mapping/collated_trajectory_builder.cc @@ -92,9 +92,9 @@ void CollatedTrajectoryBuilder::HandleCollatedSensorData( wrapped_trajectory_builder_->AddLaserFan(data->time, data->laser_fan); return; - case sensor::Data::Type::kOdometry: - wrapped_trajectory_builder_->AddOdometerPose( - data->time, data->odometry.pose, data->odometry.covariance); + case sensor::Data::Type::kOdometer: + wrapped_trajectory_builder_->AddOdometerData( + data->time, data->odometer.pose, data->odometer.covariance); return; } LOG(FATAL); diff --git a/cartographer/mapping/global_trajectory_builder_interface.h b/cartographer/mapping/global_trajectory_builder_interface.h index 3e1c7c5..cbf7619 100644 --- a/cartographer/mapping/global_trajectory_builder_interface.h +++ b/cartographer/mapping/global_trajectory_builder_interface.h @@ -55,7 +55,7 @@ class GlobalTrajectoryBuilderInterface { virtual void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity) = 0; - virtual void AddOdometerPose( + virtual void AddOdometerData( common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) = 0; }; diff --git a/cartographer/mapping/trajectory_builder.h b/cartographer/mapping/trajectory_builder.h index bdd2ab4..867c743 100644 --- a/cartographer/mapping/trajectory_builder.h +++ b/cartographer/mapping/trajectory_builder.h @@ -97,12 +97,12 @@ class TrajectoryBuilder { angular_velocity})); } - void AddOdometerPose(const string& sensor_id, common::Time time, + void AddOdometerData(const string& sensor_id, common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) { AddSensorData(sensor_id, common::make_unique( - time, sensor::Data::Odometry{pose, covariance})); + time, sensor::Data::Odometer{pose, covariance})); } }; diff --git a/cartographer/mapping_2d/global_trajectory_builder.cc b/cartographer/mapping_2d/global_trajectory_builder.cc index fa7e4b3..d8be710 100644 --- a/cartographer/mapping_2d/global_trajectory_builder.cc +++ b/cartographer/mapping_2d/global_trajectory_builder.cc @@ -54,10 +54,10 @@ void GlobalTrajectoryBuilder::AddImuData( angular_velocity); } -void GlobalTrajectoryBuilder::AddOdometerPose( +void GlobalTrajectoryBuilder::AddOdometerData( const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) { - local_trajectory_builder_.AddOdometerPose(time, pose, covariance); + local_trajectory_builder_.AddOdometerData(time, pose, covariance); } const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& diff --git a/cartographer/mapping_2d/global_trajectory_builder.h b/cartographer/mapping_2d/global_trajectory_builder.h index 1c4c1a8..d6dadb2 100644 --- a/cartographer/mapping_2d/global_trajectory_builder.h +++ b/cartographer/mapping_2d/global_trajectory_builder.h @@ -44,7 +44,7 @@ class GlobalTrajectoryBuilder const sensor::LaserFan& laser_fan) override; void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity) override; - void AddOdometerPose( + void AddOdometerData( common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) override; diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc index 2fdd881..c697cc9 100644 --- a/cartographer/mapping_2d/local_trajectory_builder.cc +++ b/cartographer/mapping_2d/local_trajectory_builder.cc @@ -264,7 +264,7 @@ void LocalTrajectoryBuilder::AddImuData( << common::RadToDeg(kMaxInclination); } -void LocalTrajectoryBuilder::AddOdometerPose( +void LocalTrajectoryBuilder::AddOdometerData( const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) { if (pose_tracker_ == nullptr) { diff --git a/cartographer/mapping_2d/local_trajectory_builder.h b/cartographer/mapping_2d/local_trajectory_builder.h index 9681581..ffebdb7 100644 --- a/cartographer/mapping_2d/local_trajectory_builder.h +++ b/cartographer/mapping_2d/local_trajectory_builder.h @@ -67,7 +67,7 @@ class LocalTrajectoryBuilder { common::Time, const sensor::LaserFan& laser_fan); void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& angular_velocity); - void AddOdometerPose(common::Time time, const transform::Rigid3d& pose, + void AddOdometerData(common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance); const Submaps* submaps() const; diff --git a/cartographer/mapping_3d/global_trajectory_builder.cc b/cartographer/mapping_3d/global_trajectory_builder.cc index ea0bde0..e296a0e 100644 --- a/cartographer/mapping_3d/global_trajectory_builder.cc +++ b/cartographer/mapping_3d/global_trajectory_builder.cc @@ -58,10 +58,10 @@ void GlobalTrajectoryBuilder::AddLaserFan(const common::Time time, local_trajectory_builder_->AddTrajectoryNodeIndex(trajectory_node_index); } -void GlobalTrajectoryBuilder::AddOdometerPose( +void GlobalTrajectoryBuilder::AddOdometerData( const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) { - local_trajectory_builder_->AddOdometerPose(time, pose, covariance); + local_trajectory_builder_->AddOdometerData(time, pose, covariance); } const GlobalTrajectoryBuilder::PoseEstimate& diff --git a/cartographer/mapping_3d/global_trajectory_builder.h b/cartographer/mapping_3d/global_trajectory_builder.h index b7c6f55..b9fd76d 100644 --- a/cartographer/mapping_3d/global_trajectory_builder.h +++ b/cartographer/mapping_3d/global_trajectory_builder.h @@ -42,7 +42,7 @@ class GlobalTrajectoryBuilder const Eigen::Vector3d& angular_velocity) override; void AddLaserFan(common::Time time, const sensor::LaserFan& laser_fan) override; - void AddOdometerPose( + void AddOdometerData( common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) override; const PoseEstimate& pose_estimate() const override; diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder.cc b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc index 70520a4..3e4bcd9 100644 --- a/cartographer/mapping_3d/kalman_local_trajectory_builder.cc +++ b/cartographer/mapping_3d/kalman_local_trajectory_builder.cc @@ -186,7 +186,7 @@ KalmanLocalTrajectoryBuilder::AddAccumulatedLaserFan( covariance_estimate); } -void KalmanLocalTrajectoryBuilder::AddOdometerPose( +void KalmanLocalTrajectoryBuilder::AddOdometerData( const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) { if (!pose_tracker_) { diff --git a/cartographer/mapping_3d/kalman_local_trajectory_builder.h b/cartographer/mapping_3d/kalman_local_trajectory_builder.h index 4ec3bf4..65ef646 100644 --- a/cartographer/mapping_3d/kalman_local_trajectory_builder.h +++ b/cartographer/mapping_3d/kalman_local_trajectory_builder.h @@ -50,7 +50,7 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface { const Eigen::Vector3d& angular_velocity) override; std::unique_ptr AddLaserFan( common::Time time, const sensor::LaserFan& laser_fan) override; - void AddOdometerPose( + void AddOdometerData( common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) override; diff --git a/cartographer/mapping_3d/local_trajectory_builder_interface.h b/cartographer/mapping_3d/local_trajectory_builder_interface.h index 8427b27..01ece27 100644 --- a/cartographer/mapping_3d/local_trajectory_builder_interface.h +++ b/cartographer/mapping_3d/local_trajectory_builder_interface.h @@ -55,7 +55,7 @@ class LocalTrajectoryBuilderInterface { const Eigen::Vector3d& angular_velocity) = 0; virtual std::unique_ptr AddLaserFan( common::Time time, const sensor::LaserFan& laser_fan) = 0; - virtual void AddOdometerPose( + virtual void AddOdometerData( common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) = 0; diff --git a/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc b/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc index d0506ad..5c08d37 100644 --- a/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc +++ b/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc @@ -125,7 +125,7 @@ void OptimizingLocalTrajectoryBuilder::AddImuData( RemoveObsoleteSensorData(); } -void OptimizingLocalTrajectoryBuilder::AddOdometerPose( +void OptimizingLocalTrajectoryBuilder::AddOdometerData( const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) { odometer_data_.push_back(OdometerData{time, pose}); diff --git a/cartographer/mapping_3d/optimizing_local_trajectory_builder.h b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h index 9330dd1..562a0af 100644 --- a/cartographer/mapping_3d/optimizing_local_trajectory_builder.h +++ b/cartographer/mapping_3d/optimizing_local_trajectory_builder.h @@ -56,7 +56,7 @@ class OptimizingLocalTrajectoryBuilder common::Time time, const sensor::LaserFan& laser_fan_in_tracking) override; - void AddOdometerPose( + void AddOdometerData( const common::Time time, const transform::Rigid3d& pose, const kalman_filter::PoseCovariance& covariance) override; diff --git a/cartographer/sensor/collator_test.cc b/cartographer/sensor/collator_test.cc index 4b6c18e..1a6fcd5 100644 --- a/cartographer/sensor/collator_test.cc +++ b/cartographer/sensor/collator_test.cc @@ -37,7 +37,7 @@ TEST(Collator, Ordering) { Data third(common::FromUniversal(300), Data::Imu{}); Data fourth(common::FromUniversal(400), sensor::LaserFan{}); Data fifth(common::FromUniversal(500), sensor::LaserFan{}); - Data sixth(common::FromUniversal(600), Data::Odometry{}); + Data sixth(common::FromUniversal(600), Data::Odometer{}); std::vector> received; Collator collator; diff --git a/cartographer/sensor/data.h b/cartographer/sensor/data.h index c92bb58..3cbc412 100644 --- a/cartographer/sensor/data.h +++ b/cartographer/sensor/data.h @@ -29,10 +29,12 @@ namespace sensor { // filled in. It is only used for time ordering sensor data before passing it // on. struct Data { - enum class Type { kImu, kLaserFan, kOdometry }; + enum class Type { kImu, kLaserFan, kOdometer }; - struct Odometry { + struct Odometer { transform::Rigid3d pose; + // TODO(damonkohler): Remove this in favor of using the configurable + // constant variance directly. kalman_filter::PoseCovariance covariance; }; @@ -48,14 +50,14 @@ struct Data { const ::cartographer::sensor::LaserFan& laser_fan) : type(Type::kLaserFan), time(time), laser_fan(laser_fan) {} - Data(const common::Time time, const Odometry& odometry) - : type(Type::kOdometry), time(time), odometry(odometry) {} + Data(const common::Time time, const Odometer& odometer) + : type(Type::kOdometer), time(time), odometer(odometer) {} Type type; common::Time time; Imu imu; sensor::LaserFan laser_fan; - Odometry odometry; + Odometer odometer; }; } // namespace sensor