Remove dead code. (#262)

cartographer/mapping/proto/scan_matching_progress.proto

@@ -1,26 +0,0 @@
-// Copyright 2016 The Cartographer Authors
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//      http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-syntax = "proto2";
-
-package cartographer.mapping.proto;
-
-// This is how proto2 calls the outer class since there is already a message
-// with the same name in the file.
-option java_outer_classname = "ScanMatchingProgressOuterClass";
-
-message ScanMatchingProgress {
-  optional int64 num_scans_finished = 1;
-  optional int64 num_scans_total = 2;
-}

cartographer/mapping/sparse_pose_graph.h

@@ -23,7 +23,6 @@
 #include <vector>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping/proto/scan_matching_progress.pb.h"
 #include "cartographer/mapping/proto/sparse_pose_graph.pb.h"
 #include "cartographer/mapping/proto/sparse_pose_graph_options.pb.h"
 #include "cartographer/mapping/submaps.h"
@@ -106,12 +105,6 @@ class SparsePoseGraph {
   // Computes optimized poses.
   virtual void RunFinalOptimization() = 0;
 
-  // Will once return true whenever new optimized poses are available.
-  virtual bool HasNewOptimizedPoses() = 0;
-
-  // Returns the scan matching progress.
-  virtual proto::ScanMatchingProgress GetScanMatchingProgress() = 0;
-
   // Get the current trajectory clusters.
   virtual std::vector<std::vector<const Submaps*>>
   GetConnectedTrajectories() = 0;
@@ -129,15 +122,16 @@ class SparsePoseGraph {
   // Returns the current optimized trajectory.
   virtual std::vector<TrajectoryNode> GetTrajectoryNodes() = 0;
 
+  // Serializes the constraints and trajectories.
+  proto::SparsePoseGraph ToProto();
+
+ protected:
   // TODO(macmason, wohe): Consider replacing this with a GroupSubmapStates,
   // which would have better separation of concerns.
   virtual std::vector<SubmapState> GetSubmapStates() = 0;
 
   // Returns the collection of constraints.
   virtual std::vector<Constraint> constraints() = 0;
-
-  // Serializes the constraints and trajectories.
-  proto::SparsePoseGraph ToProto();
 };
 
 // Like TrajectoryNodes, SubmapStates arrive in a flat vector, but need to be

cartographer/mapping_2d/sparse_pose_graph.cc

@@ -30,7 +30,6 @@
 #include "Eigen/Eigenvalues"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping/proto/scan_matching_progress.pb.h"
 #include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
 #include "cartographer/sensor/voxel_filter.h"
@@ -336,7 +335,6 @@ void SparsePoseGraph::RunOptimization() {
   if (!submap_transforms_.empty()) {
     optimization_problem_.Solve(constraints_, &submap_transforms_);
     common::MutexLocker locker(&mutex_);
-    has_new_optimized_poses_ = true;
 
     const auto& node_data = optimization_problem_.node_data();
     const size_t num_optimized_poses = node_data.size();
@@ -373,24 +371,6 @@ void SparsePoseGraph::RunOptimization() {
   }
 }
 
-bool SparsePoseGraph::HasNewOptimizedPoses() {
-  common::MutexLocker locker(&mutex_);
-  if (!has_new_optimized_poses_) {
-    return false;
-  }
-  has_new_optimized_poses_ = false;
-  return true;
-}
-
-mapping::proto::ScanMatchingProgress
-SparsePoseGraph::GetScanMatchingProgress() {
-  mapping::proto::ScanMatchingProgress progress;
-  common::MutexLocker locker(&mutex_);
-  progress.set_num_scans_total(trajectory_nodes_.size());
-  progress.set_num_scans_finished(constraint_builder_.GetNumFinishedScans());
-  return progress;
-}
-
 std::vector<mapping::TrajectoryNode> SparsePoseGraph::GetTrajectoryNodes() {
   common::MutexLocker locker(&mutex_);
   return trajectory_nodes_;

cartographer/mapping_2d/sparse_pose_graph.h

@@ -41,7 +41,6 @@
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
 #include "cartographer/kalman_filter/pose_tracker.h"
-#include "cartographer/mapping/proto/scan_matching_progress.pb.h"
 #include "cartographer/mapping/sparse_pose_graph.h"
 #include "cartographer/mapping/trajectory_connectivity.h"
 #include "cartographer/mapping_2d/sparse_pose_graph/constraint_builder.h"
@@ -86,8 +85,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
                   const Eigen::Vector3d& angular_velocity);
 
   void RunFinalOptimization() override;
-  bool HasNewOptimizedPoses() override;
-  mapping::proto::ScanMatchingProgress GetScanMatchingProgress() override;
   std::vector<std::vector<const mapping::Submaps*>> GetConnectedTrajectories()
       override;
   std::vector<transform::Rigid3d> GetSubmapTransforms(
@@ -179,9 +176,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   std::map<const mapping::Submap*, int> submap_indices_ GUARDED_BY(mutex_);
   std::vector<SubmapState> submap_states_ GUARDED_BY(mutex_);
 
-  // Whether to return true on the next call to HasNewOptimizedPoses().
-  bool has_new_optimized_poses_ GUARDED_BY(mutex_) = false;
-
   // Connectivity structure of our trajectories.
   std::vector<std::vector<const mapping::Submaps*>> connected_components_;
   // Trajectory to connected component ID.

cartographer/mapping_3d/sparse_pose_graph.cc

@@ -30,7 +30,6 @@
 #include "Eigen/Eigenvalues"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping/proto/scan_matching_progress.pb.h"
 #include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
 #include "cartographer/sensor/voxel_filter.h"
@@ -331,7 +330,6 @@ void SparsePoseGraph::RunOptimization() {
   if (!submap_transforms_.empty()) {
     optimization_problem_.Solve(constraints_, &submap_transforms_);
     common::MutexLocker locker(&mutex_);
-    has_new_optimized_poses_ = true;
 
     const auto& node_data = optimization_problem_.node_data();
     const size_t num_optimized_poses = node_data.size();
@@ -367,24 +365,6 @@ void SparsePoseGraph::RunOptimization() {
   }
 }
 
-bool SparsePoseGraph::HasNewOptimizedPoses() {
-  common::MutexLocker locker(&mutex_);
-  if (!has_new_optimized_poses_) {
-    return false;
-  }
-  has_new_optimized_poses_ = false;
-  return true;
-}
-
-mapping::proto::ScanMatchingProgress
-SparsePoseGraph::GetScanMatchingProgress() {
-  mapping::proto::ScanMatchingProgress progress;
-  common::MutexLocker locker(&mutex_);
-  progress.set_num_scans_total(trajectory_nodes_.size());
-  progress.set_num_scans_finished(constraint_builder_.GetNumFinishedScans());
-  return progress;
-}
-
 std::vector<mapping::TrajectoryNode> SparsePoseGraph::GetTrajectoryNodes() {
   common::MutexLocker locker(&mutex_);
   return trajectory_nodes_;

cartographer/mapping_3d/sparse_pose_graph.h

@@ -41,7 +41,6 @@
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
 #include "cartographer/kalman_filter/pose_tracker.h"
-#include "cartographer/mapping/proto/scan_matching_progress.pb.h"
 #include "cartographer/mapping/sparse_pose_graph.h"
 #include "cartographer/mapping/trajectory_connectivity.h"
 #include "cartographer/mapping_3d/sparse_pose_graph/constraint_builder.h"
@@ -88,8 +87,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
                   const Eigen::Vector3d& angular_velocity);
 
   void RunFinalOptimization() override;
-  bool HasNewOptimizedPoses() override;
-  mapping::proto::ScanMatchingProgress GetScanMatchingProgress() override;
   std::vector<std::vector<const mapping::Submaps*>> GetConnectedTrajectories()
       override;
   std::vector<transform::Rigid3d> GetSubmapTransforms(
@@ -199,9 +196,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   std::map<const mapping::Submap*, int> submap_indices_ GUARDED_BY(mutex_);
   std::vector<SubmapState> submap_states_ GUARDED_BY(mutex_);
 
-  // Whether to return true on the next call to HasNewOptimizedPoses().
-  bool has_new_optimized_poses_ GUARDED_BY(mutex_) = false;
-
   // Connectivity structure of our trajectories.
   std::vector<std::vector<const mapping::Submaps*>> connected_components_;
   // Trajectory to connected component ID.