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Renames Odometry to Odometer. (#135)

master
Damon Kohler 2016-11-21 08:27:19 +01:00 committed by GitHub
parent 7dc3ab1e9e
commit c386bf050d
16 changed files with 27 additions and 25 deletions
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6
cartographer/mapping/collated_trajectory_builder.cc
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@ -92,9 +92,9 @@ void CollatedTrajectoryBuilder::HandleCollatedSensorData(
wrapped_trajectory_builder_->AddLaserFan(data->time, data->laser_fan); wrapped_trajectory_builder_->AddLaserFan(data->time, data->laser_fan);
return; return;
case sensor::Data::Type::kOdometry: case sensor::Data::Type::kOdometer:
wrapped_trajectory_builder_->AddOdometerPose( wrapped_trajectory_builder_->AddOdometerData(
data->time, data->odometry.pose, data->odometry.covariance); data->time, data->odometer.pose, data->odometer.covariance);
return; return;
} }
LOG(FATAL); LOG(FATAL);

2
cartographer/mapping/global_trajectory_builder_interface.h
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@ -55,7 +55,7 @@ class GlobalTrajectoryBuilderInterface {
virtual void AddImuData(common::Time time, virtual void AddImuData(common::Time time,
const Eigen::Vector3d& linear_acceleration, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) = 0; const Eigen::Vector3d& angular_velocity) = 0;
virtual void AddOdometerPose( virtual void AddOdometerData(
common::Time time, const transform::Rigid3d& pose, common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) = 0; const kalman_filter::PoseCovariance& covariance) = 0;
}; };

4
cartographer/mapping/trajectory_builder.h
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@ -97,12 +97,12 @@ class TrajectoryBuilder {
angular_velocity})); 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 transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) { const kalman_filter::PoseCovariance& covariance) {
AddSensorData(sensor_id, AddSensorData(sensor_id,
common::make_unique<sensor::Data>( common::make_unique<sensor::Data>(
time, sensor::Data::Odometry{pose, covariance})); time, sensor::Data::Odometer{pose, covariance}));
} }
}; };

4
cartographer/mapping_2d/global_trajectory_builder.cc
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@ -54,10 +54,10 @@ void GlobalTrajectoryBuilder::AddImuData(
angular_velocity); angular_velocity);
} }
void GlobalTrajectoryBuilder::AddOdometerPose( void GlobalTrajectoryBuilder::AddOdometerData(
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) { const kalman_filter::PoseCovariance& covariance) {
local_trajectory_builder_.AddOdometerPose(time, pose, covariance); local_trajectory_builder_.AddOdometerData(time, pose, covariance);
} }
const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate&

2
cartographer/mapping_2d/global_trajectory_builder.h
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@ -44,7 +44,7 @@ class GlobalTrajectoryBuilder
const sensor::LaserFan& laser_fan) override; const sensor::LaserFan& laser_fan) override;
void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity) override; const Eigen::Vector3d& angular_velocity) override;
void AddOdometerPose( void AddOdometerData(
common::Time time, const transform::Rigid3d& pose, common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) override; const kalman_filter::PoseCovariance& covariance) override;

2
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -264,7 +264,7 @@ void LocalTrajectoryBuilder::AddImuData(
<< common::RadToDeg(kMaxInclination); << common::RadToDeg(kMaxInclination);
} }
void LocalTrajectoryBuilder::AddOdometerPose( void LocalTrajectoryBuilder::AddOdometerData(
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) { const kalman_filter::PoseCovariance& covariance) {
if (pose_tracker_ == nullptr) { if (pose_tracker_ == nullptr) {

2
cartographer/mapping_2d/local_trajectory_builder.h
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@ -67,7 +67,7 @@ class LocalTrajectoryBuilder {
common::Time, const sensor::LaserFan& laser_fan); common::Time, const sensor::LaserFan& laser_fan);
void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration, void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
const Eigen::Vector3d& angular_velocity); 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 kalman_filter::PoseCovariance& covariance);
const Submaps* submaps() const; const Submaps* submaps() const;

4
cartographer/mapping_3d/global_trajectory_builder.cc
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@ -58,10 +58,10 @@ void GlobalTrajectoryBuilder::AddLaserFan(const common::Time time,
local_trajectory_builder_->AddTrajectoryNodeIndex(trajectory_node_index); local_trajectory_builder_->AddTrajectoryNodeIndex(trajectory_node_index);
} }
void GlobalTrajectoryBuilder::AddOdometerPose( void GlobalTrajectoryBuilder::AddOdometerData(
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) { const kalman_filter::PoseCovariance& covariance) {
local_trajectory_builder_->AddOdometerPose(time, pose, covariance); local_trajectory_builder_->AddOdometerData(time, pose, covariance);
} }
const GlobalTrajectoryBuilder::PoseEstimate& const GlobalTrajectoryBuilder::PoseEstimate&

2
cartographer/mapping_3d/global_trajectory_builder.h
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@ -42,7 +42,7 @@ class GlobalTrajectoryBuilder
const Eigen::Vector3d& angular_velocity) override; const Eigen::Vector3d& angular_velocity) override;
void AddLaserFan(common::Time time, void AddLaserFan(common::Time time,
const sensor::LaserFan& laser_fan) override; const sensor::LaserFan& laser_fan) override;
void AddOdometerPose( void AddOdometerData(
common::Time time, const transform::Rigid3d& pose, common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) override; const kalman_filter::PoseCovariance& covariance) override;
const PoseEstimate& pose_estimate() const override; const PoseEstimate& pose_estimate() const override;

2
cartographer/mapping_3d/kalman_local_trajectory_builder.cc
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@ -186,7 +186,7 @@ KalmanLocalTrajectoryBuilder::AddAccumulatedLaserFan(
covariance_estimate); covariance_estimate);
} }
void KalmanLocalTrajectoryBuilder::AddOdometerPose( void KalmanLocalTrajectoryBuilder::AddOdometerData(
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) { const kalman_filter::PoseCovariance& covariance) {
if (!pose_tracker_) { if (!pose_tracker_) {

2
cartographer/mapping_3d/kalman_local_trajectory_builder.h
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@ -50,7 +50,7 @@ class KalmanLocalTrajectoryBuilder : public LocalTrajectoryBuilderInterface {
const Eigen::Vector3d& angular_velocity) override; const Eigen::Vector3d& angular_velocity) override;
std::unique_ptr<InsertionResult> AddLaserFan( std::unique_ptr<InsertionResult> AddLaserFan(
common::Time time, const sensor::LaserFan& laser_fan) override; common::Time time, const sensor::LaserFan& laser_fan) override;
void AddOdometerPose( void AddOdometerData(
common::Time time, const transform::Rigid3d& pose, common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) override; const kalman_filter::PoseCovariance& covariance) override;

2
cartographer/mapping_3d/local_trajectory_builder_interface.h
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@ -55,7 +55,7 @@ class LocalTrajectoryBuilderInterface {
const Eigen::Vector3d& angular_velocity) = 0; const Eigen::Vector3d& angular_velocity) = 0;
virtual std::unique_ptr<InsertionResult> AddLaserFan( virtual std::unique_ptr<InsertionResult> AddLaserFan(
common::Time time, const sensor::LaserFan& laser_fan) = 0; common::Time time, const sensor::LaserFan& laser_fan) = 0;
virtual void AddOdometerPose( virtual void AddOdometerData(
common::Time time, const transform::Rigid3d& pose, common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) = 0; const kalman_filter::PoseCovariance& covariance) = 0;

2
cartographer/mapping_3d/optimizing_local_trajectory_builder.cc
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@ -125,7 +125,7 @@ void OptimizingLocalTrajectoryBuilder::AddImuData(
RemoveObsoleteSensorData(); RemoveObsoleteSensorData();
} }
void OptimizingLocalTrajectoryBuilder::AddOdometerPose( void OptimizingLocalTrajectoryBuilder::AddOdometerData(
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) { const kalman_filter::PoseCovariance& covariance) {
odometer_data_.push_back(OdometerData{time, pose}); odometer_data_.push_back(OdometerData{time, pose});

2
cartographer/mapping_3d/optimizing_local_trajectory_builder.h
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@ -56,7 +56,7 @@ class OptimizingLocalTrajectoryBuilder
common::Time time, common::Time time,
const sensor::LaserFan& laser_fan_in_tracking) override; const sensor::LaserFan& laser_fan_in_tracking) override;
void AddOdometerPose( void AddOdometerData(
const common::Time time, const transform::Rigid3d& pose, const common::Time time, const transform::Rigid3d& pose,
const kalman_filter::PoseCovariance& covariance) override; const kalman_filter::PoseCovariance& covariance) override;

2
cartographer/sensor/collator_test.cc
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@ -37,7 +37,7 @@ TEST(Collator, Ordering) {
Data third(common::FromUniversal(300), Data::Imu{}); Data third(common::FromUniversal(300), Data::Imu{});
Data fourth(common::FromUniversal(400), sensor::LaserFan{}); Data fourth(common::FromUniversal(400), sensor::LaserFan{});
Data fifth(common::FromUniversal(500), 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<std::pair<string, Data>> received; std::vector<std::pair<string, Data>> received;
Collator collator; Collator collator;

12
cartographer/sensor/data.h
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@ -29,10 +29,12 @@ namespace sensor {
// filled in. It is only used for time ordering sensor data before passing it // filled in. It is only used for time ordering sensor data before passing it
// on. // on.
struct Data { struct Data {
enum class Type { kImu, kLaserFan, kOdometry }; enum class Type { kImu, kLaserFan, kOdometer };
struct Odometry { struct Odometer {
transform::Rigid3d pose; transform::Rigid3d pose;
// TODO(damonkohler): Remove this in favor of using the configurable
// constant variance directly.
kalman_filter::PoseCovariance covariance; kalman_filter::PoseCovariance covariance;
}; };
@ -48,14 +50,14 @@ struct Data {
const ::cartographer::sensor::LaserFan& laser_fan) const ::cartographer::sensor::LaserFan& laser_fan)
: type(Type::kLaserFan), time(time), laser_fan(laser_fan) {} : type(Type::kLaserFan), time(time), laser_fan(laser_fan) {}
Data(const common::Time time, const Odometry& odometry) Data(const common::Time time, const Odometer& odometer)
: type(Type::kOdometry), time(time), odometry(odometry) {} : type(Type::kOdometer), time(time), odometer(odometer) {}
Type type; Type type;
common::Time time; common::Time time;
Imu imu; Imu imu;
sensor::LaserFan laser_fan; sensor::LaserFan laser_fan;
Odometry odometry; Odometer odometer;
}; };
} // namespace sensor } // namespace sensor