Use Task in ConstraintBuilder2D (#1118)
parent
666095cb41
commit
c46fe073b4
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@ -58,14 +58,17 @@ ConstraintBuilder2D::ConstraintBuilder2D(
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common::ThreadPoolInterface* const thread_pool)
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: options_(options),
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thread_pool_(thread_pool),
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finish_node_task_(common::make_unique<common::Task>()),
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when_done_task_(common::make_unique<common::Task>()),
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sampler_(options.sampling_ratio()),
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ceres_scan_matcher_(options.ceres_scan_matcher_options()) {}
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ConstraintBuilder2D::~ConstraintBuilder2D() {
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common::MutexLocker locker(&mutex_);
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CHECK_EQ(finish_node_task_->GetState(), common::Task::NEW);
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CHECK_EQ(when_done_task_->GetState(), common::Task::NEW);
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CHECK_EQ(constraints_.size(), 0) << "WhenDone() was not called";
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CHECK_EQ(pending_computations_.size(), 0);
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CHECK_EQ(submap_queued_work_items_.size(), 0);
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CHECK_EQ(num_started_nodes_, num_finished_nodes_);
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CHECK(when_done_ == nullptr);
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}
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@ -77,94 +80,101 @@ void ConstraintBuilder2D::MaybeAddConstraint(
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options_.max_constraint_distance()) {
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return;
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}
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if (sampler_.Pulse()) {
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if (!sampler_.Pulse()) return;
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common::MutexLocker locker(&mutex_);
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if (when_done_) {
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LOG(WARNING)
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<< "MaybeAddConstraint was called while WhenDone was scheduled.";
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}
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constraints_.emplace_back();
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kQueueLengthMetric->Set(constraints_.size());
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auto* const constraint = &constraints_.back();
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++pending_computations_[current_computation_];
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const int current_computation = current_computation_;
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ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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submap_id, submap->grid(), [=]() EXCLUDES(mutex_) {
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ComputeConstraint(submap_id, submap, node_id,
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false, /* match_full_submap */
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constant_data, initial_relative_pose, constraint);
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FinishComputation(current_computation);
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const auto* scan_matcher =
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DispatchScanMatcherConstruction(submap_id, submap->grid());
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auto constraint_task = common::make_unique<common::Task>();
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constraint_task->SetWorkItem([=]() EXCLUDES(mutex_) {
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ComputeConstraint(submap_id, submap, node_id, false, /* match_full_submap */
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constant_data, initial_relative_pose, *scan_matcher,
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constraint);
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});
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}
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constraint_task->AddDependency(scan_matcher->creation_task_handle);
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auto constraint_task_handle =
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thread_pool_->Schedule(std::move(constraint_task));
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finish_node_task_->AddDependency(constraint_task_handle);
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}
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void ConstraintBuilder2D::MaybeAddGlobalConstraint(
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const SubmapId& submap_id, const Submap2D* const submap,
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const NodeId& node_id, const TrajectoryNode::Data* const constant_data) {
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common::MutexLocker locker(&mutex_);
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if (when_done_) {
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LOG(WARNING)
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<< "MaybeAddGlobalConstraint was called while WhenDone was scheduled.";
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}
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constraints_.emplace_back();
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kQueueLengthMetric->Set(constraints_.size());
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auto* const constraint = &constraints_.back();
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++pending_computations_[current_computation_];
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const int current_computation = current_computation_;
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ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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submap_id, submap->grid(), [=]() EXCLUDES(mutex_) {
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ComputeConstraint(
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submap_id, submap, node_id, true, /* match_full_submap */
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constant_data, transform::Rigid2d::Identity(), constraint);
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FinishComputation(current_computation);
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const auto* scan_matcher =
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DispatchScanMatcherConstruction(submap_id, submap->grid());
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auto constraint_task = common::make_unique<common::Task>();
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constraint_task->SetWorkItem([=]() EXCLUDES(mutex_) {
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ComputeConstraint(submap_id, submap, node_id, true, /* match_full_submap */
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constant_data, transform::Rigid2d::Identity(),
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*scan_matcher, constraint);
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});
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constraint_task->AddDependency(scan_matcher->creation_task_handle);
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auto constraint_task_handle =
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thread_pool_->Schedule(std::move(constraint_task));
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finish_node_task_->AddDependency(constraint_task_handle);
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}
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void ConstraintBuilder2D::NotifyEndOfNode() {
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common::MutexLocker locker(&mutex_);
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++current_computation_;
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CHECK(finish_node_task_ != nullptr);
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finish_node_task_->SetWorkItem([this] {
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common::MutexLocker locker(&mutex_);
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++num_finished_nodes_;
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});
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auto finish_node_task_handle =
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thread_pool_->Schedule(std::move(finish_node_task_));
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finish_node_task_ = common::make_unique<common::Task>();
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when_done_task_->AddDependency(finish_node_task_handle);
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++num_started_nodes_;
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}
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void ConstraintBuilder2D::WhenDone(
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const std::function<void(const ConstraintBuilder2D::Result&)>& callback) {
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common::MutexLocker locker(&mutex_);
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CHECK(when_done_ == nullptr);
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// TODO(gaschler): Consider using just std::function, it can also be empty.
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when_done_ =
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common::make_unique<std::function<void(const Result&)>>(callback);
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++pending_computations_[current_computation_];
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const int current_computation = current_computation_;
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thread_pool_->Schedule(
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[this, current_computation] { FinishComputation(current_computation); });
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}
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void ConstraintBuilder2D::ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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const SubmapId& submap_id, const Grid2D* const grid,
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const std::function<void()>& work_item) {
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if (submap_scan_matchers_[submap_id].fast_correlative_scan_matcher !=
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nullptr) {
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thread_pool_->Schedule(work_item);
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} else {
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submap_queued_work_items_[submap_id].push_back(work_item);
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if (submap_queued_work_items_[submap_id].size() == 1) {
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thread_pool_->Schedule(
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[=]() { ConstructSubmapScanMatcher(submap_id, grid); });
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}
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}
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}
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void ConstraintBuilder2D::ConstructSubmapScanMatcher(const SubmapId& submap_id,
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const Grid2D* const grid) {
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auto submap_scan_matcher =
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common::make_unique<scan_matching::FastCorrelativeScanMatcher2D>(
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*grid, options_.fast_correlative_scan_matcher_options());
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common::MutexLocker locker(&mutex_);
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submap_scan_matchers_[submap_id] = {grid, std::move(submap_scan_matcher)};
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for (const std::function<void()>& work_item :
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submap_queued_work_items_[submap_id]) {
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thread_pool_->Schedule(work_item);
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}
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submap_queued_work_items_.erase(submap_id);
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CHECK(when_done_task_ != nullptr);
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when_done_task_->SetWorkItem([this] { RunWhenDoneCallback(); });
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thread_pool_->Schedule(std::move(when_done_task_));
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when_done_task_ = common::make_unique<common::Task>();
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}
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const ConstraintBuilder2D::SubmapScanMatcher*
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ConstraintBuilder2D::GetSubmapScanMatcher(const SubmapId& submap_id) {
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common::MutexLocker locker(&mutex_);
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const SubmapScanMatcher* submap_scan_matcher =
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&submap_scan_matchers_[submap_id];
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CHECK(submap_scan_matcher->fast_correlative_scan_matcher != nullptr);
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return submap_scan_matcher;
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ConstraintBuilder2D::DispatchScanMatcherConstruction(const SubmapId& submap_id,
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const Grid2D* const grid) {
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if (submap_scan_matchers_.count(submap_id) != 0) {
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return &submap_scan_matchers_.at(submap_id);
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}
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auto& submap_scan_matcher = submap_scan_matchers_[submap_id];
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submap_scan_matcher.grid = grid;
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auto& scan_matcher_options = options_.fast_correlative_scan_matcher_options();
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auto scan_matcher_task = common::make_unique<common::Task>();
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scan_matcher_task->SetWorkItem(
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[&submap_scan_matcher, &scan_matcher_options]() {
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submap_scan_matcher.fast_correlative_scan_matcher =
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common::make_unique<scan_matching::FastCorrelativeScanMatcher2D>(
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*submap_scan_matcher.grid, scan_matcher_options);
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});
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submap_scan_matcher.creation_task_handle =
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thread_pool_->Schedule(std::move(scan_matcher_task));
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return &submap_scan_matchers_.at(submap_id);
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}
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void ConstraintBuilder2D::ComputeConstraint(
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@ -172,11 +182,10 @@ void ConstraintBuilder2D::ComputeConstraint(
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const NodeId& node_id, bool match_full_submap,
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const TrajectoryNode::Data* const constant_data,
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const transform::Rigid2d& initial_relative_pose,
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const SubmapScanMatcher& submap_scan_matcher,
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std::unique_ptr<ConstraintBuilder2D::Constraint>* constraint) {
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const transform::Rigid2d initial_pose =
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ComputeSubmapPose(*submap) * initial_relative_pose;
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const SubmapScanMatcher* const submap_scan_matcher =
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GetSubmapScanMatcher(submap_id);
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// The 'constraint_transform' (submap i <- node j) is computed from:
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// - a 'filtered_gravity_aligned_point_cloud' in node j,
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@ -192,7 +201,7 @@ void ConstraintBuilder2D::ComputeConstraint(
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// 3. Refine.
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if (match_full_submap) {
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kGlobalConstraintsSearchedMetric->Increment();
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if (submap_scan_matcher->fast_correlative_scan_matcher->MatchFullSubmap(
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if (submap_scan_matcher.fast_correlative_scan_matcher->MatchFullSubmap(
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constant_data->filtered_gravity_aligned_point_cloud,
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options_.global_localization_min_score(), &score, &pose_estimate)) {
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CHECK_GT(score, options_.global_localization_min_score());
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@ -205,7 +214,7 @@ void ConstraintBuilder2D::ComputeConstraint(
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}
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} else {
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kConstraintsSearchedMetric->Increment();
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if (submap_scan_matcher->fast_correlative_scan_matcher->Match(
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if (submap_scan_matcher.fast_correlative_scan_matcher->Match(
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initial_pose, constant_data->filtered_gravity_aligned_point_cloud,
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options_.min_score(), &score, &pose_estimate)) {
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// We've reported a successful local match.
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@ -227,7 +236,7 @@ void ConstraintBuilder2D::ComputeConstraint(
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ceres::Solver::Summary unused_summary;
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ceres_scan_matcher_.Match(pose_estimate.translation(), pose_estimate,
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constant_data->filtered_gravity_aligned_point_cloud,
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*submap_scan_matcher->grid, &pose_estimate,
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*submap_scan_matcher.grid, &pose_estimate,
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&unused_summary);
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const transform::Rigid2d constraint_transform =
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@ -258,22 +267,16 @@ void ConstraintBuilder2D::ComputeConstraint(
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}
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}
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void ConstraintBuilder2D::FinishComputation(const int computation_index) {
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void ConstraintBuilder2D::RunWhenDoneCallback() {
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Result result;
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std::unique_ptr<std::function<void(const Result&)>> callback;
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{
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common::MutexLocker locker(&mutex_);
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if (--pending_computations_[computation_index] == 0) {
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pending_computations_.erase(computation_index);
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}
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if (pending_computations_.empty()) {
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CHECK_EQ(submap_queued_work_items_.size(), 0);
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if (when_done_ != nullptr) {
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CHECK(when_done_ != nullptr);
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for (const std::unique_ptr<Constraint>& constraint : constraints_) {
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if (constraint != nullptr) {
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if (constraint == nullptr) continue;
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result.push_back(*constraint);
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}
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}
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if (options_.log_matches()) {
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LOG(INFO) << constraints_.size() << " computations resulted in "
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<< result.size() << " additional constraints.";
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@ -282,26 +285,22 @@ void ConstraintBuilder2D::FinishComputation(const int computation_index) {
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constraints_.clear();
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callback = std::move(when_done_);
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when_done_.reset();
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}
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}
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kQueueLengthMetric->Set(constraints_.size());
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}
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if (callback != nullptr) {
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(*callback)(result);
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}
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}
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int ConstraintBuilder2D::GetNumFinishedNodes() {
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common::MutexLocker locker(&mutex_);
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if (pending_computations_.empty()) {
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return current_computation_;
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}
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return pending_computations_.begin()->first;
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return num_finished_nodes_;
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}
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void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) {
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common::MutexLocker locker(&mutex_);
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CHECK(pending_computations_.empty());
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if (when_done_) {
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LOG(WARNING)
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<< "DeleteScanMatcher was called while WhenDone was scheduled.";
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}
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submap_scan_matchers_.erase(submap_id);
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}
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@ -29,6 +29,7 @@
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#include "cartographer/common/histogram.h"
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#include "cartographer/common/math.h"
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#include "cartographer/common/mutex.h"
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#include "cartographer/common/task.h"
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#include "cartographer/common/thread_pool.h"
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#include "cartographer/mapping/2d/submap_2d.h"
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#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
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@ -49,10 +50,10 @@ transform::Rigid2d ComputeSubmapPose(const Submap2D& submap);
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// Asynchronously computes constraints.
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//
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// Intermingle an arbitrary number of calls to MaybeAddConstraint() or
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// MaybeAddGlobalConstraint, then call WhenDone(). After all computations are
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// done the 'callback' will be called with the result and another
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// MaybeAdd(Global)Constraint()/WhenDone() cycle can follow.
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// Intermingle an arbitrary number of calls to 'MaybeAddConstraint',
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// 'MaybeAddGlobalConstraint', and 'NotifyEndOfNode', then call 'WhenDone' once.
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// After all computations are done the 'callback' will be called with the result
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// and another MaybeAdd(Global)Constraint()/WhenDone() cycle can follow.
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//
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// This class is thread-safe.
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class ConstraintBuilder2D {
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@ -92,7 +93,8 @@ class ConstraintBuilder2D {
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void NotifyEndOfNode();
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// Registers the 'callback' to be called with the results, after all
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// computations triggered by MaybeAddConstraint() have finished.
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// computations triggered by 'MaybeAdd*Constraint' have finished.
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// 'callback' is executed in the 'ThreadPool'.
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void WhenDone(const std::function<void(const Result&)>& callback);
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// Returns the number of consecutive finished nodes.
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@ -108,21 +110,13 @@ class ConstraintBuilder2D {
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const Grid2D* grid;
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std::unique_ptr<scan_matching::FastCorrelativeScanMatcher2D>
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fast_correlative_scan_matcher;
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std::weak_ptr<common::Task> creation_task_handle;
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};
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// Either schedules the 'work_item', or if needed, schedules the scan matcher
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// construction and queues the 'work_item'.
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void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
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const SubmapId& submap_id, const Grid2D* grid,
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const std::function<void()>& work_item) REQUIRES(mutex_);
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// Constructs the scan matcher for a 'submap', then schedules its work items.
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void ConstructSubmapScanMatcher(const SubmapId& submap_id, const Grid2D* grid)
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EXCLUDES(mutex_);
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// Returns the scan matcher for a submap, which has to exist.
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const SubmapScanMatcher* GetSubmapScanMatcher(const SubmapId& submap_id)
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EXCLUDES(mutex_);
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// The returned 'grid' and 'fast_correlative_scan_matcher' must only be
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// accessed after 'creation_task_handle' has completed.
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const SubmapScanMatcher* DispatchScanMatcherConstruction(
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const SubmapId& submap_id, const Grid2D* grid) REQUIRES(mutex_);
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// Runs in a background thread and does computations for an additional
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// constraint, assuming 'submap' and 'compressed_point_cloud' do not change
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@ -131,12 +125,11 @@ class ConstraintBuilder2D {
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const NodeId& node_id, bool match_full_submap,
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const TrajectoryNode::Data* const constant_data,
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const transform::Rigid2d& initial_relative_pose,
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const SubmapScanMatcher& submap_scan_matcher,
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std::unique_ptr<Constraint>* constraint)
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EXCLUDES(mutex_);
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// Decrements the 'pending_computations_' count. If all computations are done,
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// runs the 'when_done_' callback and resets the state.
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void FinishComputation(int computation_index) EXCLUDES(mutex_);
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void RunWhenDoneCallback() EXCLUDES(mutex_);
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const constraints::proto::ConstraintBuilderOptions options_;
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common::ThreadPoolInterface* thread_pool_;
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@ -146,28 +139,27 @@ class ConstraintBuilder2D {
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std::unique_ptr<std::function<void(const Result&)>> when_done_
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GUARDED_BY(mutex_);
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// Index of the node in reaction to which computations are currently
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// added. This is always the highest node index seen so far, even when older
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// TODO(gaschler): Use atomics instead of mutex to access these counters.
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// Number of the node in reaction to which computations are currently
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// added. This is always the number of nodes seen so far, even when older
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// nodes are matched against a new submap.
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int current_computation_ GUARDED_BY(mutex_) = 0;
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int num_started_nodes_ GUARDED_BY(mutex_) = 0;
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// For each added node, maps to the number of pending computations that were
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// added for it.
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std::map<int, int> pending_computations_ GUARDED_BY(mutex_);
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int num_finished_nodes_ GUARDED_BY(mutex_) = 0;
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std::unique_ptr<common::Task> finish_node_task_ GUARDED_BY(mutex_);
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std::unique_ptr<common::Task> when_done_task_ GUARDED_BY(mutex_);
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// Constraints currently being computed in the background. A deque is used to
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// keep pointers valid when adding more entries.
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// keep pointers valid when adding more entries. Constraint search results
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// with below-threshold scores are also 'nullptr'.
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std::deque<std::unique_ptr<Constraint>> constraints_ GUARDED_BY(mutex_);
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// Map of already constructed scan matchers by 'submap_id'.
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// Map of dispatched or constructed scan matchers by 'submap_id'.
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std::map<SubmapId, SubmapScanMatcher> submap_scan_matchers_
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GUARDED_BY(mutex_);
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// Map by 'submap_id' of scan matchers under construction, and the work
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// to do once construction is done.
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std::map<SubmapId, std::vector<std::function<void()>>>
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submap_queued_work_items_ GUARDED_BY(mutex_);
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common::FixedRatioSampler sampler_;
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scan_matching::CeresScanMatcher2D ceres_scan_matcher_;
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