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Make SparsePoseGraph::constraints() public. (#284)

master
Jihoon Lee 2017-05-15 16:06:20 +02:00 committed by Wolfgang Hess
parent 7d43eaa08c
commit f26e4366c9
3 changed files with 3 additions and 3 deletions
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2
cartographer/mapping/sparse_pose_graph.h
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@ -99,10 +99,10 @@ class SparsePoseGraph {
// Serializes the constraints and trajectories. // Serializes the constraints and trajectories.
proto::SparsePoseGraph ToProto(); proto::SparsePoseGraph ToProto();
protected:
// Returns the collection of constraints. // Returns the collection of constraints.
virtual std::vector<Constraint> constraints() = 0; virtual std::vector<Constraint> constraints() = 0;
protected:
// Returns the mapping from Submaps* to trajectory IDs. // Returns the mapping from Submaps* to trajectory IDs.
virtual const std::unordered_map<const Submaps*, int>& trajectory_ids() = 0; virtual const std::unordered_map<const Submaps*, int>& trajectory_ids() = 0;
}; };

2
cartographer/mapping_2d/sparse_pose_graph.h
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@ -88,9 +88,9 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
EXCLUDES(mutex_) override; EXCLUDES(mutex_) override;
std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
EXCLUDES(mutex_); EXCLUDES(mutex_);
std::vector<Constraint> constraints() override EXCLUDES(mutex_);
protected: protected:
std::vector<Constraint> constraints() override EXCLUDES(mutex_);
const std::unordered_map<const mapping::Submaps*, int>& trajectory_ids() const std::unordered_map<const mapping::Submaps*, int>& trajectory_ids()
override EXCLUDES(mutex_); override EXCLUDES(mutex_);

2
cartographer/mapping_3d/sparse_pose_graph.h
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@ -90,9 +90,9 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
EXCLUDES(mutex_) override; EXCLUDES(mutex_) override;
std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override std::vector<mapping::TrajectoryNode> GetTrajectoryNodes() override
EXCLUDES(mutex_); EXCLUDES(mutex_);
std::vector<Constraint> constraints() override EXCLUDES(mutex_);
protected: protected:
std::vector<Constraint> constraints() override EXCLUDES(mutex_);
const std::unordered_map<const mapping::Submaps*, int>& trajectory_ids() const std::unordered_map<const mapping::Submaps*, int>& trajectory_ids()
override EXCLUDES(mutex_); override EXCLUDES(mutex_);