From ceddabbcbb05d5fcf229ddd24683c703dfd79ea0 Mon Sep 17 00:00:00 2001
From: gaschler <gaschlera@gmail.com>
Date: Wed, 24 Oct 2018 18:04:55 +0200
Subject: [PATCH] Improve portability (#1452)

This change improves the portability of Cartographer.
---
 .../mapping/2d/probability_grid_range_data_inserter_2d.cc     | 3 ++-
 cartographer/mapping/3d/range_data_inserter_3d.cc             | 2 +-
 .../2d/scan_matching/fast_correlative_scan_matcher_2d.cc      | 4 ++--
 .../2d/scan_matching/real_time_correlative_scan_matcher_2d.cc | 2 +-
 .../3d/scan_matching/real_time_correlative_scan_matcher_3d.cc | 2 +-
 cartographer/mapping/pose_extrapolator_test.cc                | 2 +-
 6 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.cc b/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.cc
index 8039158..511cb49 100644
--- a/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.cc
+++ b/cartographer/mapping/2d/probability_grid_range_data_inserter_2d.cc
@@ -124,10 +124,11 @@ ProbabilityGridRangeDataInserter2D::ProbabilityGridRangeDataInserter2D(
 void ProbabilityGridRangeDataInserter2D::Insert(
     const sensor::RangeData& range_data, GridInterface* const grid) const {
   ProbabilityGrid* const probability_grid = static_cast<ProbabilityGrid*>(grid);
+  CHECK(probability_grid != nullptr);
   // By not finishing the update after hits are inserted, we give hits priority
   // (i.e. no hits will be ignored because of a miss in the same cell).
   CastRays(range_data, hit_table_, miss_table_, options_.insert_free_space(),
-           CHECK_NOTNULL(probability_grid));
+           probability_grid);
   probability_grid->FinishUpdate();
 }
 
diff --git a/cartographer/mapping/3d/range_data_inserter_3d.cc b/cartographer/mapping/3d/range_data_inserter_3d.cc
index 2a336a8..104f805 100644
--- a/cartographer/mapping/3d/range_data_inserter_3d.cc
+++ b/cartographer/mapping/3d/range_data_inserter_3d.cc
@@ -77,7 +77,7 @@ RangeDataInserter3D::RangeDataInserter3D(
 
 void RangeDataInserter3D::Insert(const sensor::RangeData& range_data,
                                  HybridGrid* hybrid_grid) const {
-  CHECK_NOTNULL(hybrid_grid);
+  CHECK(hybrid_grid != nullptr);
 
   for (const sensor::RangefinderPoint& hit : range_data.returns) {
     const Eigen::Array3i hit_cell = hybrid_grid->GetCellIndex(hit.position);
diff --git a/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
index 726aa0a..4f20363 100644
--- a/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
@@ -229,8 +229,8 @@ bool FastCorrelativeScanMatcher2D::MatchWithSearchParameters(
     const transform::Rigid2d& initial_pose_estimate,
     const sensor::PointCloud& point_cloud, float min_score, float* score,
     transform::Rigid2d* pose_estimate) const {
-  CHECK_NOTNULL(score);
-  CHECK_NOTNULL(pose_estimate);
+  CHECK(score != nullptr);
+  CHECK(pose_estimate != nullptr);
 
   const Eigen::Rotation2Dd initial_rotation = initial_pose_estimate.rotation();
   const sensor::PointCloud rotated_point_cloud = sensor::TransformPointCloud(
diff --git a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
index 2464268..1bc75bd 100644
--- a/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
@@ -118,7 +118,7 @@ double RealTimeCorrelativeScanMatcher2D::Match(
     const transform::Rigid2d& initial_pose_estimate,
     const sensor::PointCloud& point_cloud, const Grid2D& grid,
     transform::Rigid2d* pose_estimate) const {
-  CHECK_NOTNULL(pose_estimate);
+  CHECK(pose_estimate != nullptr);
 
   const Eigen::Rotation2Dd initial_rotation = initial_pose_estimate.rotation();
   const sensor::PointCloud rotated_point_cloud = sensor::TransformPointCloud(
diff --git a/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
index 0426b2d..6ac9e0a 100644
--- a/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
@@ -35,7 +35,7 @@ float RealTimeCorrelativeScanMatcher3D::Match(
     const transform::Rigid3d& initial_pose_estimate,
     const sensor::PointCloud& point_cloud, const HybridGrid& hybrid_grid,
     transform::Rigid3d* pose_estimate) const {
-  CHECK_NOTNULL(pose_estimate);
+  CHECK(pose_estimate != nullptr);
   float best_score = -1.f;
   for (const transform::Rigid3f& transform : GenerateExhaustiveSearchTransforms(
            hybrid_grid.resolution(), point_cloud)) {
diff --git a/cartographer/mapping/pose_extrapolator_test.cc b/cartographer/mapping/pose_extrapolator_test.cc
index 7aafe29..fe17e1b 100644
--- a/cartographer/mapping/pose_extrapolator_test.cc
+++ b/cartographer/mapping/pose_extrapolator_test.cc
@@ -18,8 +18,8 @@
 
 #include "Eigen/Geometry"
 #include "absl/memory/memory.h"
+#include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "gtest/gtest.h"
-#include "transform/rigid_transform_test_helpers.h"
 
 namespace cartographer {
 namespace mapping {