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Allow execution of Submap2D::ToResponseProto without a grid (#1078) 

- related to https://github.com/googlecartographer/cartographer_ros/issues/819
master
Kevin Daun 2018-04-17 14:27:09 +02:00 committed by Wally B. Feed
parent 74970be757
commit ed0a8846f1
1 changed files with 1 additions and 1 deletions
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2
cartographer/mapping/2d/submap_2d.cc
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@ -103,7 +103,7 @@ void Submap2D::UpdateFromProto(const proto::Submap& proto) {
void Submap2D::ToResponseProto( void Submap2D::ToResponseProto(
const transform::Rigid3d&, const transform::Rigid3d&,
proto::SubmapQuery::Response* const response) const { proto::SubmapQuery::Response* const response) const {
CHECK(probability_grid_); if (!probability_grid_) return;
response->set_submap_version(num_range_data()); response->set_submap_version(num_range_data());
Eigen::Array2i offset; Eigen::Array2i offset;