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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);
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);

2
cartographer/mapping/global_trajectory_builder_interface.h
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@ -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;
};

4
cartographer/mapping/trajectory_builder.h
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@ -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<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);
}
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&

2
cartographer/mapping_2d/global_trajectory_builder.h
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@ -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;

2
cartographer/mapping_2d/local_trajectory_builder.cc
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@ -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) {

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);
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;

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);
}
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&

2
cartographer/mapping_3d/global_trajectory_builder.h
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@ -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;

2
cartographer/mapping_3d/kalman_local_trajectory_builder.cc
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@ -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_) {

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;
std::unique_ptr<InsertionResult> 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;

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;
virtual std::unique_ptr<InsertionResult> 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;

2
cartographer/mapping_3d/optimizing_local_trajectory_builder.cc
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@ -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});

2
cartographer/mapping_3d/optimizing_local_trajectory_builder.h
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@ -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;

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 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<std::pair<string, Data>> received;
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
// 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