Remove 'mapping_2d' namespace. (#922)

It is removed from everywhere but 'scan_matching', 'pose_graph'
subfolders of 'mapping_2d'.

[Code structure RFC](e11bca586f/text/0000-code-structure.md)

cartographer/internal/mapping_2d/local_trajectory_builder.cc

@@ -26,7 +26,7 @@ namespace cartographer {
 namespace mapping_2d {
 
 LocalTrajectoryBuilder::LocalTrajectoryBuilder(
-    const proto::LocalTrajectoryBuilderOptions& options)
+    const mapping::proto::LocalTrajectoryBuilderOptions2D& options)
     : options_(options),
       active_submaps_(options.submaps_options()),
       motion_filter_(options_.motion_filter_options()),
@@ -53,7 +53,7 @@ LocalTrajectoryBuilder::TransformToGravityAlignedFrameAndFilter(
 std::unique_ptr<transform::Rigid2d> LocalTrajectoryBuilder::ScanMatch(
     const common::Time time, const transform::Rigid2d& pose_prediction,
     const sensor::RangeData& gravity_aligned_range_data) {
-  std::shared_ptr<const Submap> matching_submap =
+  std::shared_ptr<const mapping::Submap2D> matching_submap =
       active_submaps_.submaps().front();
   // The online correlative scan matcher will refine the initial estimate for
   // the Ceres scan matcher.
@@ -205,8 +205,9 @@ LocalTrajectoryBuilder::InsertIntoSubmap(
 
   // Querying the active submaps must be done here before calling
   // InsertRangeData() since the queried values are valid for next insertion.
-  std::vector<std::shared_ptr<const Submap>> insertion_submaps;
+  std::vector<std::shared_ptr<const mapping::Submap2D>> insertion_submaps;
-  for (const std::shared_ptr<Submap>& submap : active_submaps_.submaps()) {
+  for (const std::shared_ptr<mapping::Submap2D>& submap :
+       active_submaps_.submaps()) {
     insertion_submaps.push_back(submap);
   }
   active_submaps_.InsertRangeData(range_data_in_local);

cartographer/internal/mapping_2d/local_trajectory_builder.h

@@ -22,10 +22,10 @@
 #include "cartographer/common/time.h"
 #include "cartographer/internal/mapping/motion_filter.h"
 #include "cartographer/mapping/pose_extrapolator.h"
-#include "cartographer/mapping_2d/proto/local_trajectory_builder_options.pb.h"
+#include "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.pb.h"
 #include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
 #include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h"
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/sensor/range_data.h"
@@ -42,7 +42,7 @@ class LocalTrajectoryBuilder {
  public:
   struct InsertionResult {
     std::shared_ptr<const mapping::TrajectoryNode::Data> constant_data;
-    std::vector<std::shared_ptr<const Submap>> insertion_submaps;
+    std::vector<std::shared_ptr<const mapping::Submap2D>> insertion_submaps;
   };
   struct MatchingResult {
     common::Time time;
@@ -53,7 +53,7 @@ class LocalTrajectoryBuilder {
   };
 
   explicit LocalTrajectoryBuilder(
-      const proto::LocalTrajectoryBuilderOptions& options);
+      const mapping::proto::LocalTrajectoryBuilderOptions2D& options);
   ~LocalTrajectoryBuilder();
 
   LocalTrajectoryBuilder(const LocalTrajectoryBuilder&) = delete;
@@ -92,8 +92,8 @@ class LocalTrajectoryBuilder {
   // Lazily constructs a PoseExtrapolator.
   void InitializeExtrapolator(common::Time time);
 
-  const proto::LocalTrajectoryBuilderOptions options_;
+  const mapping::proto::LocalTrajectoryBuilderOptions2D options_;
-  ActiveSubmaps active_submaps_;
+  mapping::ActiveSubmaps2D active_submaps_;
 
   mapping::MotionFilter motion_filter_;
   scan_matching::RealTimeCorrelativeScanMatcher

cartographer/internal/mapping_2d/scan_matching/occupied_space_cost_function.h

@@ -36,7 +36,7 @@ class OccupiedSpaceCostFunction {
  public:
   static ceres::CostFunction* CreateAutoDiffCostFunction(
       const double scaling_factor, const sensor::PointCloud& point_cloud,
-      const ProbabilityGrid& probability_grid) {
+      const mapping::ProbabilityGrid& probability_grid) {
     return new ceres::AutoDiffCostFunction<OccupiedSpaceCostFunction,
                                            ceres::DYNAMIC /* residuals */,
                                            3 /* pose variables */>(
@@ -55,7 +55,7 @@ class OccupiedSpaceCostFunction {
 
     const GridArrayAdapter adapter(probability_grid_);
     ceres::BiCubicInterpolator<GridArrayAdapter> interpolator(adapter);
-    const MapLimits& limits = probability_grid_.limits();
+    const mapping::MapLimits& limits = probability_grid_.limits();
 
     for (size_t i = 0; i < point_cloud_.size(); ++i) {
       // Note that this is a 2D point. The third component is a scaling factor.
@@ -79,7 +79,7 @@ class OccupiedSpaceCostFunction {
    public:
     enum { DATA_DIMENSION = 1 };
 
-    explicit GridArrayAdapter(const ProbabilityGrid& probability_grid)
+    explicit GridArrayAdapter(const mapping::ProbabilityGrid& probability_grid)
         : probability_grid_(probability_grid) {}
 
     void GetValue(const int row, const int column, double* const value) const {
@@ -103,12 +103,12 @@ class OccupiedSpaceCostFunction {
     }
 
    private:
-    const ProbabilityGrid& probability_grid_;
+    const mapping::ProbabilityGrid& probability_grid_;
   };
 
   OccupiedSpaceCostFunction(const double scaling_factor,
                             const sensor::PointCloud& point_cloud,
-                            const ProbabilityGrid& probability_grid)
+                            const mapping::ProbabilityGrid& probability_grid)
       : scaling_factor_(scaling_factor),
         point_cloud_(point_cloud),
         probability_grid_(probability_grid) {}
@@ -119,7 +119,7 @@ class OccupiedSpaceCostFunction {
 
   const double scaling_factor_;
   const sensor::PointCloud& point_cloud_;
-  const ProbabilityGrid& probability_grid_;
+  const mapping::ProbabilityGrid& probability_grid_;
 };
 
 }  // namespace scan_matching

cartographer/io/probability_grid_points_processor.cc

@@ -30,7 +30,7 @@ namespace io {
 namespace {
 
 void DrawTrajectoriesIntoImage(
-    const mapping_2d::ProbabilityGrid& probability_grid,
+    const mapping::ProbabilityGrid& probability_grid,
     const Eigen::Array2i& offset,
     const std::vector<mapping::proto::Trajectory>& trajectories,
     cairo_surface_t* cairo_surface) {
@@ -57,7 +57,7 @@ uint8 ProbabilityToColor(float probability_from_grid) {
 
 ProbabilityGridPointsProcessor::ProbabilityGridPointsProcessor(
     const double resolution,
-    const mapping_2d::proto::RangeDataInserterOptions&
+    const mapping::proto::RangeDataInserterOptions2D&
         range_data_inserter_options,
     const DrawTrajectories& draw_trajectories,
     std::unique_ptr<FileWriter> file_writer,
@@ -82,7 +82,7 @@ ProbabilityGridPointsProcessor::FromDictionary(
                                      : DrawTrajectories::kNo;
   return common::make_unique<ProbabilityGridPointsProcessor>(
       dictionary->GetDouble("resolution"),
-      mapping_2d::CreateRangeDataInserterOptions(
+      mapping::CreateRangeDataInserterOptions2D(
           dictionary->GetDictionary("range_data_inserter").get()),
       draw_trajectories,
       file_writer_factory(dictionary->GetString("filename") + ".png"),
@@ -125,9 +125,8 @@ PointsProcessor::FlushResult ProbabilityGridPointsProcessor::Flush() {
 }
 
 std::unique_ptr<Image> DrawProbabilityGrid(
-    const mapping_2d::ProbabilityGrid& probability_grid,
+    const mapping::ProbabilityGrid& probability_grid, Eigen::Array2i* offset) {
-    Eigen::Array2i* offset) {
+  mapping::CellLimits cell_limits;
-  mapping_2d::CellLimits cell_limits;
   probability_grid.ComputeCroppedLimits(offset, &cell_limits);
   if (cell_limits.num_x_cells == 0 || cell_limits.num_y_cells == 0) {
     LOG(WARNING) << "Not writing output: empty probability grid";
@@ -136,7 +135,7 @@ std::unique_ptr<Image> DrawProbabilityGrid(
   auto image = common::make_unique<Image>(cell_limits.num_x_cells,
                                           cell_limits.num_y_cells);
   for (const Eigen::Array2i& xy_index :
-       cartographer::mapping_2d::XYIndexRangeIterator(cell_limits)) {
+       mapping::XYIndexRangeIterator(cell_limits)) {
     const Eigen::Array2i index = xy_index + *offset;
     constexpr uint8 kUnknownValue = 128;
     const uint8 value =
@@ -149,14 +148,14 @@ std::unique_ptr<Image> DrawProbabilityGrid(
   return image;
 }
 
-mapping_2d::ProbabilityGrid CreateProbabilityGrid(const double resolution) {
+mapping::ProbabilityGrid CreateProbabilityGrid(const double resolution) {
   constexpr int kInitialProbabilityGridSize = 100;
   Eigen::Vector2d max =
       0.5 * kInitialProbabilityGridSize * resolution * Eigen::Vector2d::Ones();
-  return mapping_2d::ProbabilityGrid(cartographer::mapping_2d::MapLimits(
+  return mapping::ProbabilityGrid(
-      resolution, max,
+      mapping::MapLimits(resolution, max,
-      mapping_2d::CellLimits(kInitialProbabilityGridSize,
+                         mapping::CellLimits(kInitialProbabilityGridSize,
-                             kInitialProbabilityGridSize)));
+                                             kInitialProbabilityGridSize)));
 }
 
 }  // namespace io

cartographer/io/probability_grid_points_processor.h

@@ -25,8 +25,8 @@
 #include "cartographer/io/points_processor.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
+#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 
 namespace cartographer {
 namespace io {
@@ -42,7 +42,7 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
   enum class DrawTrajectories { kNo, kYes };
   ProbabilityGridPointsProcessor(
       double resolution,
-      const mapping_2d::proto::RangeDataInserterOptions&
+      const mapping::proto::RangeDataInserterOptions2D&
           range_data_inserter_options,
       const DrawTrajectories& draw_trajectories,
       std::unique_ptr<FileWriter> file_writer,
@@ -68,19 +68,18 @@ class ProbabilityGridPointsProcessor : public PointsProcessor {
   const std::vector<mapping::proto::Trajectory> trajectories_;
   std::unique_ptr<FileWriter> file_writer_;
   PointsProcessor* const next_;
-  mapping_2d::RangeDataInserter range_data_inserter_;
+  mapping::RangeDataInserter2D range_data_inserter_;
-  mapping_2d::ProbabilityGrid probability_grid_;
+  mapping::ProbabilityGrid probability_grid_;
 };
 
 // Draws 'probability_grid' into an image and fills in 'offset' with the cropped
 // map limits. Returns 'nullptr' if probability_grid was empty.
 std::unique_ptr<Image> DrawProbabilityGrid(
-    const mapping_2d::ProbabilityGrid& probability_grid,
+    const mapping::ProbabilityGrid& probability_grid, Eigen::Array2i* offset);
-    Eigen::Array2i* offset);
 
 // Create an initially empty probability grid with 'resolution' and a small
 // size, suitable for a PointsBatchProcessor.
-mapping_2d::ProbabilityGrid CreateProbabilityGrid(const double resolution);
+mapping::ProbabilityGrid CreateProbabilityGrid(const double resolution);
 
 }  // namespace io
 }  // namespace cartographer

cartographer/io/submap_painter.cc

@@ -16,6 +16,9 @@
 
 #include "cartographer/io/submap_painter.h"
 
+#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping_3d/submaps.h"
+
 namespace cartographer {
 namespace io {
 namespace {
@@ -115,7 +118,7 @@ void FillSubmapSlice(
     local_pose = submap.local_pose();
     submap.ToResponseProto(global_submap_pose, &response);
   } else {
-    ::cartographer::mapping_2d::Submap submap(proto.submap_2d());
+    ::cartographer::mapping::Submap2D submap(proto.submap_2d());
     local_pose = submap.local_pose();
     submap.ToResponseProto(global_submap_pose, &response);
   }

cartographer/io/submap_painter.h

@@ -21,9 +21,7 @@
 #include "cairo/cairo.h"
 #include "cartographer/io/image.h"
 #include "cartographer/mapping/id.h"
-#include "cartographer/mapping/proto/submap.pb.h"
+#include "cartographer/mapping/proto/serialization.pb.h"
-#include "cartographer/mapping_2d/submaps.h"
-#include "cartographer/mapping_3d/submaps.h"
 #include "cartographer/transform/rigid_transform.h"
 
 namespace cartographer {

cartographer/mapping/local_slam_result_data.cc

@@ -27,7 +27,7 @@ LocalSlamResultData::LocalSlamResultData(const std::string& sensor_id,
 LocalSlamResult2D::LocalSlamResult2D(
     const std::string& sensor_id, common::Time time,
     std::shared_ptr<const mapping::TrajectoryNode::Data> node_data,
-    const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
+    const std::vector<std::shared_ptr<const mapping::Submap2D>>&
         insertion_submaps)
     : LocalSlamResultData(sensor_id, time),
       node_data_(node_data),

cartographer/mapping/local_slam_result_data.h

@@ -42,8 +42,7 @@ class LocalSlamResult2D : public LocalSlamResultData {
   LocalSlamResult2D(
       const std::string& sensor_id, common::Time time,
       std::shared_ptr<const TrajectoryNode::Data> node_data,
-      const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
+      const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps);
-          insertion_submaps);
 
   void AddToTrajectoryBuilder(
       TrajectoryBuilderInterface* const trajectory_builder) override;
@@ -51,7 +50,7 @@ class LocalSlamResult2D : public LocalSlamResultData {
 
  private:
   std::shared_ptr<const TrajectoryNode::Data> node_data_;
-  std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps_;
+  std::vector<std::shared_ptr<const Submap2D>> insertion_submaps_;
 };
 
 class LocalSlamResult3D : public LocalSlamResultData {

cartographer/mapping/proto/submap.proto

@@ -20,12 +20,12 @@ import "cartographer/mapping_2d/proto/probability_grid.proto";
 import "cartographer/mapping_3d/proto/hybrid_grid.proto";
 import "cartographer/transform/proto/transform.proto";
 
-// Serialized state of a mapping_2d::Submap.
+// Serialized state of a Submap2D.
 message Submap2D {
   transform.proto.Rigid3d local_pose = 1;
   int32 num_range_data = 2;
   bool finished = 3;
-  mapping_2d.proto.ProbabilityGrid probability_grid = 4;
+  mapping.proto.ProbabilityGrid probability_grid = 4;
 }
 
 // Serialized state of a mapping_3d::Submap.

cartographer/mapping/proto/trajectory_builder_options.proto

@@ -15,7 +15,7 @@
 syntax = "proto3";
 
 import "cartographer/transform/proto/transform.proto";
-import "cartographer/mapping_2d/proto/local_trajectory_builder_options.proto";
+import "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto";
 import "cartographer/mapping_3d/proto/local_trajectory_builder_options.proto";
 
 package cartographer.mapping.proto;
@@ -27,8 +27,7 @@ message InitialTrajectoryPose {
 }
 
 message TrajectoryBuilderOptions {
-  mapping_2d.proto.LocalTrajectoryBuilderOptions
+  LocalTrajectoryBuilderOptions2D trajectory_builder_2d_options = 1;
-      trajectory_builder_2d_options = 1;
   mapping_3d.proto.LocalTrajectoryBuilderOptions
       trajectory_builder_3d_options = 2;
   bool pure_localization = 3;

cartographer/mapping/trajectory_builder_interface.cc

@@ -17,7 +17,7 @@
 #include "cartographer/mapping/trajectory_builder_interface.h"
 
 #include "cartographer/mapping/local_slam_result_data.h"
-#include "cartographer/mapping_2d/local_trajectory_builder_options.h"
+#include "cartographer/mapping_2d/local_trajectory_builder_options_2d.h"
 #include "cartographer/mapping_3d/local_trajectory_builder_options.h"
 
 namespace cartographer {
@@ -27,7 +27,7 @@ proto::TrajectoryBuilderOptions CreateTrajectoryBuilderOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {
   proto::TrajectoryBuilderOptions options;
   *options.mutable_trajectory_builder_2d_options() =
-      mapping_2d::CreateLocalTrajectoryBuilderOptions(
+      CreateLocalTrajectoryBuilderOptions2D(
           parameter_dictionary->GetDictionary("trajectory_builder_2d").get());
   *options.mutable_trajectory_builder_3d_options() =
       mapping_3d::CreateLocalTrajectoryBuilderOptions(

cartographer/mapping_2d/local_trajectory_builder_options_2d.cc

@@ -14,20 +14,20 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/local_trajectory_builder_options.h"
+#include "cartographer/mapping_2d/local_trajectory_builder_options_2d.h"
 
 #include "cartographer/internal/mapping/motion_filter.h"
 #include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
 #include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h"
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
-proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
+proto::LocalTrajectoryBuilderOptions2D CreateLocalTrajectoryBuilderOptions2D(
     common::LuaParameterDictionary* const parameter_dictionary) {
-  proto::LocalTrajectoryBuilderOptions options;
+  proto::LocalTrajectoryBuilderOptions2D options;
   options.set_min_range(parameter_dictionary->GetDouble("min_range"));
   options.set_max_range(parameter_dictionary->GetDouble("max_range"));
   options.set_min_z(parameter_dictionary->GetDouble("min_z"));
@@ -49,22 +49,22 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
               ->GetDictionary("loop_closure_adaptive_voxel_filter")
               .get());
   *options.mutable_real_time_correlative_scan_matcher_options() =
-      scan_matching::CreateRealTimeCorrelativeScanMatcherOptions(
+      mapping_2d::scan_matching::CreateRealTimeCorrelativeScanMatcherOptions(
           parameter_dictionary
               ->GetDictionary("real_time_correlative_scan_matcher")
               .get());
   *options.mutable_ceres_scan_matcher_options() =
-      scan_matching::CreateCeresScanMatcherOptions(
+      mapping_2d::scan_matching::CreateCeresScanMatcherOptions(
           parameter_dictionary->GetDictionary("ceres_scan_matcher").get());
   *options.mutable_motion_filter_options() = mapping::CreateMotionFilterOptions(
       parameter_dictionary->GetDictionary("motion_filter").get());
   options.set_imu_gravity_time_constant(
       parameter_dictionary->GetDouble("imu_gravity_time_constant"));
-  *options.mutable_submaps_options() = CreateSubmapsOptions(
+  *options.mutable_submaps_options() = CreateSubmapsOptions2D(
       parameter_dictionary->GetDictionary("submaps").get());
   options.set_use_imu_data(parameter_dictionary->GetBool("use_imu_data"));
   return options;
 }
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/local_trajectory_builder_options_2d.h

@@ -14,19 +14,19 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_H_
+#ifndef CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_H_
+#define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping_2d/proto/local_trajectory_builder_options.pb.h"
+#include "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.pb.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
-proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
+proto::LocalTrajectoryBuilderOptions2D CreateLocalTrajectoryBuilderOptions2D(
     common::LuaParameterDictionary* parameter_dictionary);
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_H_
+#endif  // CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_

cartographer/mapping_2d/map_limits.h

@@ -33,7 +33,7 @@
 #include "glog/logging.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
 // Defines the limits of a grid map. This class must remain inlined for
 // performance reasons.
@@ -97,7 +97,7 @@ inline proto::MapLimits ToProto(const MapLimits& map_limits) {
   return result;
 }
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_MAPPING_2D_MAP_LIMITS_H_

cartographer/mapping_2d/map_limits_test.cc

@@ -19,7 +19,7 @@
 #include "gtest/gtest.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 namespace {
 
 TEST(MapLimitsTest, ToProto) {
@@ -63,5 +63,5 @@ TEST(MapLimitsTest, ConstructAndGet) {
 }
 
 }  // namespace
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/pose_graph/constraint_builder.cc

@@ -38,7 +38,7 @@ namespace cartographer {
 namespace mapping_2d {
 namespace pose_graph {
 
-transform::Rigid2d ComputeSubmapPose(const Submap& submap) {
+transform::Rigid2d ComputeSubmapPose(const mapping::Submap2D& submap) {
   return transform::Project2D(submap.local_pose());
 }
 
@@ -59,7 +59,7 @@ ConstraintBuilder::~ConstraintBuilder() {
 }
 
 void ConstraintBuilder::MaybeAddConstraint(
-    const mapping::SubmapId& submap_id, const Submap* const submap,
+    const mapping::SubmapId& submap_id, const mapping::Submap2D* const submap,
     const mapping::NodeId& node_id,
     const mapping::TrajectoryNode::Data* const constant_data,
     const transform::Rigid2d& initial_relative_pose) {
@@ -84,7 +84,7 @@ void ConstraintBuilder::MaybeAddConstraint(
 }
 
 void ConstraintBuilder::MaybeAddGlobalConstraint(
-    const mapping::SubmapId& submap_id, const Submap* const submap,
+    const mapping::SubmapId& submap_id, const mapping::Submap2D* const submap,
     const mapping::NodeId& node_id,
     const mapping::TrajectoryNode::Data* const constant_data) {
   common::MutexLocker locker(&mutex_);
@@ -119,7 +119,8 @@ void ConstraintBuilder::WhenDone(
 }
 
 void ConstraintBuilder::ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
-    const mapping::SubmapId& submap_id, const ProbabilityGrid* const submap,
+    const mapping::SubmapId& submap_id,
+    const mapping::ProbabilityGrid* const submap,
     const std::function<void()>& work_item) {
   if (submap_scan_matchers_[submap_id].fast_correlative_scan_matcher !=
       nullptr) {
@@ -134,7 +135,8 @@ void ConstraintBuilder::ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
 }
 
 void ConstraintBuilder::ConstructSubmapScanMatcher(
-    const mapping::SubmapId& submap_id, const ProbabilityGrid* const submap) {
+    const mapping::SubmapId& submap_id,
+    const mapping::ProbabilityGrid* const submap) {
   auto submap_scan_matcher =
       common::make_unique<scan_matching::FastCorrelativeScanMatcher>(
           *submap, options_.fast_correlative_scan_matcher_options());
@@ -157,7 +159,7 @@ ConstraintBuilder::GetSubmapScanMatcher(const mapping::SubmapId& submap_id) {
 }
 
 void ConstraintBuilder::ComputeConstraint(
-    const mapping::SubmapId& submap_id, const Submap* const submap,
+    const mapping::SubmapId& submap_id, const mapping::Submap2D* const submap,
     const mapping::NodeId& node_id, bool match_full_submap,
     const mapping::TrajectoryNode::Data* const constant_data,
     const transform::Rigid2d& initial_relative_pose,

cartographer/mapping_2d/pose_graph/constraint_builder.h

@@ -34,9 +34,7 @@
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h"
 #include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h"
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
-#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher.h"
-#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/voxel_filter.h"
 
@@ -46,7 +44,7 @@ namespace pose_graph {
 
 // Returns (map <- submap) where 'submap' is a coordinate system at the origin
 // of the Submap.
-transform::Rigid2d ComputeSubmapPose(const Submap& submap);
+transform::Rigid2d ComputeSubmapPose(const mapping::Submap2D& submap);
 
 // Asynchronously computes constraints.
 //
@@ -76,7 +74,7 @@ class ConstraintBuilder {
   // The pointees of 'submap' and 'compressed_point_cloud' must stay valid until
   // all computations are finished.
   void MaybeAddConstraint(
-      const mapping::SubmapId& submap_id, const Submap* submap,
+      const mapping::SubmapId& submap_id, const mapping::Submap2D* submap,
       const mapping::NodeId& node_id,
       const mapping::TrajectoryNode::Data* const constant_data,
       const transform::Rigid2d& initial_relative_pose);
@@ -88,7 +86,7 @@ class ConstraintBuilder {
   // The pointees of 'submap' and 'compressed_point_cloud' must stay valid until
   // all computations are finished.
   void MaybeAddGlobalConstraint(
-      const mapping::SubmapId& submap_id, const Submap* submap,
+      const mapping::SubmapId& submap_id, const mapping::Submap2D* submap,
       const mapping::NodeId& node_id,
       const mapping::TrajectoryNode::Data* const constant_data);
 
@@ -107,7 +105,7 @@ class ConstraintBuilder {
 
  private:
   struct SubmapScanMatcher {
-    const ProbabilityGrid* probability_grid;
+    const mapping::ProbabilityGrid* probability_grid;
     std::unique_ptr<scan_matching::FastCorrelativeScanMatcher>
         fast_correlative_scan_matcher;
   };
@@ -115,12 +113,13 @@ class ConstraintBuilder {
   // Either schedules the 'work_item', or if needed, schedules the scan matcher
   // construction and queues the 'work_item'.
   void ScheduleSubmapScanMatcherConstructionAndQueueWorkItem(
-      const mapping::SubmapId& submap_id, const ProbabilityGrid* submap,
+      const mapping::SubmapId& submap_id,
+      const mapping::ProbabilityGrid* submap,
       const std::function<void()>& work_item) REQUIRES(mutex_);
 
   // Constructs the scan matcher for a 'submap', then schedules its work items.
   void ConstructSubmapScanMatcher(const mapping::SubmapId& submap_id,
-                                  const ProbabilityGrid* submap)
+                                  const mapping::ProbabilityGrid* submap)
       EXCLUDES(mutex_);
 
   // Returns the scan matcher for a submap, which has to exist.
@@ -131,7 +130,7 @@ class ConstraintBuilder {
   // constraint, assuming 'submap' and 'compressed_point_cloud' do not change
   // anymore. As output, it may create a new Constraint in 'constraint'.
   void ComputeConstraint(
-      const mapping::SubmapId& submap_id, const Submap* submap,
+      const mapping::SubmapId& submap_id, const mapping::Submap2D* submap,
       const mapping::NodeId& node_id, bool match_full_submap,
       const mapping::TrajectoryNode::Data* const constant_data,
       const transform::Rigid2d& initial_relative_pose,

cartographer/mapping_2d/pose_graph_2d.cc

@@ -53,8 +53,7 @@ PoseGraph2D::~PoseGraph2D() {
 
 std::vector<SubmapId> PoseGraph2D::InitializeGlobalSubmapPoses(
     const int trajectory_id, const common::Time time,
-    const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
+    const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps) {
-        insertion_submaps) {
   CHECK(!insertion_submaps.empty());
   const auto& submap_data = optimization_problem_.submap_data();
   if (insertion_submaps.size() == 1) {
@@ -103,8 +102,7 @@ std::vector<SubmapId> PoseGraph2D::InitializeGlobalSubmapPoses(
 NodeId PoseGraph2D::AddNode(
     std::shared_ptr<const TrajectoryNode::Data> constant_data,
     const int trajectory_id,
-    const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
+    const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps) {
-        insertion_submaps) {
   const transform::Rigid3d optimized_pose(
       GetLocalToGlobalTransform(trajectory_id) * constant_data->local_pose);
 
@@ -234,7 +232,7 @@ void PoseGraph2D::ComputeConstraintsForOldNodes(const SubmapId& submap_id) {
 
 void PoseGraph2D::ComputeConstraintsForNode(
     const NodeId& node_id,
-    std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps,
+    std::vector<std::shared_ptr<const Submap2D>> insertion_submaps,
     const bool newly_finished_submap) {
   const auto& constant_data = trajectory_nodes_.at(node_id).constant_data;
   const std::vector<SubmapId> submap_ids = InitializeGlobalSubmapPoses(
@@ -431,8 +429,8 @@ void PoseGraph2D::AddSubmapFromProto(
 
   const SubmapId submap_id = {submap.submap_id().trajectory_id(),
                               submap.submap_id().submap_index()};
-  std::shared_ptr<const mapping_2d::Submap> submap_ptr =
+  std::shared_ptr<const Submap2D> submap_ptr =
-      std::make_shared<const mapping_2d::Submap>(submap.submap_2d());
+      std::make_shared<const Submap2D>(submap.submap_2d());
   const transform::Rigid2d global_submap_pose_2d =
       transform::Project2D(global_submap_pose);
 

cartographer/mapping_2d/pose_graph_2d.h

@@ -37,7 +37,7 @@
 #include "cartographer/mapping/trajectory_connectivity_state.h"
 #include "cartographer/mapping_2d/pose_graph/constraint_builder.h"
 #include "cartographer/mapping_2d/pose_graph/optimization_problem.h"
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 #include "cartographer/sensor/landmark_data.h"
 #include "cartographer/sensor/odometry_data.h"
@@ -71,10 +71,11 @@ class PoseGraph2D : public PoseGraph {
   // node data was inserted into the 'insertion_submaps'. If
   // 'insertion_submaps.front().finished()' is 'true', data was inserted into
   // this submap for the last time.
-  NodeId AddNode(std::shared_ptr<const TrajectoryNode::Data> constant_data,
+  NodeId AddNode(
-                 int trajectory_id,
+      std::shared_ptr<const TrajectoryNode::Data> constant_data,
-                 const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
+      int trajectory_id,
-                     insertion_submaps) EXCLUDES(mutex_);
+      const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps)
+      EXCLUDES(mutex_);
 
   void AddImuData(int trajectory_id, const sensor::ImuData& imu_data) override
       EXCLUDES(mutex_);
@@ -137,7 +138,7 @@ class PoseGraph2D : public PoseGraph {
   // Likewise, all new nodes are matched against submaps which are finished.
   enum class SubmapState { kActive, kFinished };
   struct SubmapData {
-    std::shared_ptr<const mapping_2d::Submap> submap;
+    std::shared_ptr<const Submap2D> submap;
 
     // IDs of the nodes that were inserted into this map together with
     // constraints for them. They are not to be matched again when this submap
@@ -157,13 +158,13 @@ class PoseGraph2D : public PoseGraph {
   // 'insertion_submaps'. Returns the IDs for the 'insertion_submaps'.
   std::vector<SubmapId> InitializeGlobalSubmapPoses(
       int trajectory_id, const common::Time time,
-      const std::vector<std::shared_ptr<const mapping_2d::Submap>>&
+      const std::vector<std::shared_ptr<const Submap2D>>& insertion_submaps)
-          insertion_submaps) REQUIRES(mutex_);
+      REQUIRES(mutex_);
 
   // Adds constraints for a node, and starts scan matching in the background.
   void ComputeConstraintsForNode(
       const NodeId& node_id,
-      std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps,
+      std::vector<std::shared_ptr<const Submap2D>> insertion_submaps,
       bool newly_finished_submap) REQUIRES(mutex_);
 
   // Computes constraints for a node and submap pair.

cartographer/mapping_2d/pose_graph_2d_test.cc

@@ -24,8 +24,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "cartographer/transform/transform.h"
@@ -58,8 +58,8 @@ class PoseGraph2DTest : public ::testing::Test {
               miss_probability = 0.495,
             },
           })text");
-      active_submaps_ = common::make_unique<mapping_2d::ActiveSubmaps>(
+      active_submaps_ = common::make_unique<ActiveSubmaps2D>(
-          mapping_2d::CreateSubmapsOptions(parameter_dictionary.get()));
+          mapping::CreateSubmapsOptions2D(parameter_dictionary.get()));
     }
 
     {
@@ -145,7 +145,7 @@ class PoseGraph2DTest : public ::testing::Test {
     const sensor::PointCloud new_point_cloud = sensor::TransformPointCloud(
         point_cloud_,
         transform::Embed3D(current_pose_.inverse().cast<float>()));
-    std::vector<std::shared_ptr<const mapping_2d::Submap>> insertion_submaps;
+    std::vector<std::shared_ptr<const Submap2D>> insertion_submaps;
     for (const auto& submap : active_submaps_->submaps()) {
       insertion_submaps.push_back(submap);
     }
@@ -178,7 +178,7 @@ class PoseGraph2DTest : public ::testing::Test {
   }
 
   sensor::PointCloud point_cloud_;
-  std::unique_ptr<mapping_2d::ActiveSubmaps> active_submaps_;
+  std::unique_ptr<ActiveSubmaps2D> active_submaps_;
   common::ThreadPool thread_pool_;
   std::unique_ptr<PoseGraph2D> pose_graph_;
   transform::Rigid2d current_pose_;

cartographer/mapping_2d/probability_grid.cc

@@ -5,7 +5,7 @@
 #include "cartographer/mapping/probability_values.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 namespace {
 
 // Converts a 'cell_index' into an index into 'cells_'.
@@ -20,7 +20,7 @@ ProbabilityGrid::ProbabilityGrid(const MapLimits& limits)
     : limits_(limits),
       cells_(
           limits_.cell_limits().num_x_cells * limits_.cell_limits().num_y_cells,
-          mapping::kUnknownProbabilityValue) {}
+          kUnknownProbabilityValue) {}
 
 ProbabilityGrid::ProbabilityGrid(const proto::ProbabilityGrid& proto)
     : limits_(proto.limits()), cells_() {
@@ -40,8 +40,8 @@ ProbabilityGrid::ProbabilityGrid(const proto::ProbabilityGrid& proto)
 // Finishes the update sequence.
 void ProbabilityGrid::FinishUpdate() {
   while (!update_indices_.empty()) {
-    DCHECK_GE(cells_[update_indices_.back()], mapping::kUpdateMarker);
+    DCHECK_GE(cells_[update_indices_.back()], kUpdateMarker);
-    cells_[update_indices_.back()] -= mapping::kUpdateMarker;
+    cells_[update_indices_.back()] -= kUpdateMarker;
     update_indices_.pop_back();
   }
 }
@@ -51,8 +51,8 @@ void ProbabilityGrid::FinishUpdate() {
 void ProbabilityGrid::SetProbability(const Eigen::Array2i& cell_index,
                                      const float probability) {
   uint16& cell = cells_[ToFlatIndex(cell_index, limits_)];
-  CHECK_EQ(cell, mapping::kUnknownProbabilityValue);
+  CHECK_EQ(cell, kUnknownProbabilityValue);
-  cell = mapping::ProbabilityToValue(probability);
+  cell = ProbabilityToValue(probability);
   known_cells_box_.extend(cell_index.matrix());
 }
 
@@ -65,15 +65,15 @@ void ProbabilityGrid::SetProbability(const Eigen::Array2i& cell_index,
 // will be set to probability corresponding to 'odds'.
 bool ProbabilityGrid::ApplyLookupTable(const Eigen::Array2i& cell_index,
                                        const std::vector<uint16>& table) {
-  DCHECK_EQ(table.size(), mapping::kUpdateMarker);
+  DCHECK_EQ(table.size(), kUpdateMarker);
   const int flat_index = ToFlatIndex(cell_index, limits_);
   uint16* cell = &cells_[flat_index];
-  if (*cell >= mapping::kUpdateMarker) {
+  if (*cell >= kUpdateMarker) {
     return false;
   }
   update_indices_.push_back(flat_index);
   *cell = table[*cell];
-  DCHECK_GE(*cell, mapping::kUpdateMarker);
+  DCHECK_GE(*cell, kUpdateMarker);
   known_cells_box_.extend(cell_index.matrix());
   return true;
 }
@@ -81,17 +81,15 @@ bool ProbabilityGrid::ApplyLookupTable(const Eigen::Array2i& cell_index,
 // Returns the probability of the cell with 'cell_index'.
 float ProbabilityGrid::GetProbability(const Eigen::Array2i& cell_index) const {
   if (limits_.Contains(cell_index)) {
-    return mapping::ValueToProbability(
+    return ValueToProbability(cells_[ToFlatIndex(cell_index, limits_)]);
-        cells_[ToFlatIndex(cell_index, limits_)]);
   }
-  return mapping::kMinProbability;
+  return kMinProbability;
 }
 
 // Returns true if the probability at the specified index is known.
 bool ProbabilityGrid::IsKnown(const Eigen::Array2i& cell_index) const {
   return limits_.Contains(cell_index) &&
-         cells_[ToFlatIndex(cell_index, limits_)] !=
+         cells_[ToFlatIndex(cell_index, limits_)] != kUnknownProbabilityValue;
-             mapping::kUnknownProbabilityValue;
 }
 
 // Fills in 'offset' and 'limits' to define a subregion of that contains all
@@ -126,7 +124,7 @@ void ProbabilityGrid::GrowLimits(const Eigen::Vector2f& point) {
     const int offset = x_offset + stride * y_offset;
     const int new_size = new_limits.cell_limits().num_x_cells *
                          new_limits.cell_limits().num_y_cells;
-    std::vector<uint16> new_cells(new_size, mapping::kUnknownProbabilityValue);
+    std::vector<uint16> new_cells(new_size, kUnknownProbabilityValue);
     for (int i = 0; i < limits_.cell_limits().num_y_cells; ++i) {
       for (int j = 0; j < limits_.cell_limits().num_x_cells; ++j) {
         new_cells[offset + j + i * stride] =
@@ -143,7 +141,7 @@ void ProbabilityGrid::GrowLimits(const Eigen::Vector2f& point) {
 
 proto::ProbabilityGrid ProbabilityGrid::ToProto() const {
   proto::ProbabilityGrid result;
-  *result.mutable_limits() = cartographer::mapping_2d::ToProto(limits_);
+  *result.mutable_limits() = mapping::ToProto(limits_);
   result.mutable_cells()->Reserve(cells_.size());
   for (const auto& cell : cells_) {
     result.mutable_cells()->Add(cell);
@@ -160,5 +158,5 @@ proto::ProbabilityGrid ProbabilityGrid::ToProto() const {
   return result;
 }
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/probability_grid.h

@@ -25,7 +25,7 @@
 #include "cartographer/mapping_2d/xy_index.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
 // Represents a 2D grid of probabilities.
 class ProbabilityGrid {
@@ -81,7 +81,7 @@ class ProbabilityGrid {
   Eigen::AlignedBox2i known_cells_box_;
 };
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_MAPPING_2D_PROBABILITY_GRID_H_

cartographer/mapping_2d/probability_grid_test.cc

@@ -22,7 +22,7 @@
 #include "gtest/gtest.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 namespace {
 
 using Eigen::Array2i;
@@ -75,35 +75,29 @@ TEST(ProbabilityGridTest, ApplyOdds) {
 
   probability_grid.SetProbability(Array2i(1, 0), 0.5);
 
-  probability_grid.ApplyLookupTable(
+  probability_grid.ApplyLookupTable(Array2i(1, 0),
-      Array2i(1, 0),
+                                    ComputeLookupTableToApplyOdds(Odds(0.9)));
-      mapping::ComputeLookupTableToApplyOdds(mapping::Odds(0.9)));
   probability_grid.FinishUpdate();
   EXPECT_GT(probability_grid.GetProbability(Array2i(1, 0)), 0.5);
 
   probability_grid.SetProbability(Array2i(0, 1), 0.5);
-
+  probability_grid.ApplyLookupTable(Array2i(0, 1),
-  probability_grid.ApplyLookupTable(
+                                    ComputeLookupTableToApplyOdds(Odds(0.1)));
-      Array2i(0, 1),
-      mapping::ComputeLookupTableToApplyOdds(mapping::Odds(0.1)));
   probability_grid.FinishUpdate();
   EXPECT_LT(probability_grid.GetProbability(Array2i(0, 1)), 0.5);
 
   // Tests adding odds to an unknown cell.
-  probability_grid.ApplyLookupTable(
+  probability_grid.ApplyLookupTable(Array2i(1, 1),
-      Array2i(1, 1),
+                                    ComputeLookupTableToApplyOdds(Odds(0.42)));
-      mapping::ComputeLookupTableToApplyOdds(mapping::Odds(0.42)));
   EXPECT_NEAR(probability_grid.GetProbability(Array2i(1, 1)), 0.42, 1e-4);
 
   // Tests that further updates are ignored if FinishUpdate() isn't called.
-  probability_grid.ApplyLookupTable(
+  probability_grid.ApplyLookupTable(Array2i(1, 1),
-      Array2i(1, 1),
+                                    ComputeLookupTableToApplyOdds(Odds(0.9)));
-      mapping::ComputeLookupTableToApplyOdds(mapping::Odds(0.9)));
   EXPECT_NEAR(probability_grid.GetProbability(Array2i(1, 1)), 0.42, 1e-4);
   probability_grid.FinishUpdate();
-  probability_grid.ApplyLookupTable(
+  probability_grid.ApplyLookupTable(Array2i(1, 1),
-      Array2i(1, 1),
+                                    ComputeLookupTableToApplyOdds(Odds(0.9)));
-      mapping::ComputeLookupTableToApplyOdds(mapping::Odds(0.9)));
   EXPECT_GT(probability_grid.GetProbability(Array2i(1, 1)), 0.42);
 }
 
@@ -120,10 +114,10 @@ TEST(ProbabilityGridTest, GetProbability) {
   ASSERT_EQ(2, cell_limits.num_y_cells);
 
   probability_grid.SetProbability(limits.GetCellIndex(Vector2f(-0.5f, 0.5f)),
-                                  mapping::kMaxProbability);
+                                  kMaxProbability);
   EXPECT_NEAR(probability_grid.GetProbability(
                   limits.GetCellIndex(Vector2f(-0.5f, 0.5f))),
-              mapping::kMaxProbability, 1e-6);
+              kMaxProbability, 1e-6);
   for (const Array2i& xy_index : {limits.GetCellIndex(Vector2f(-0.5f, 1.5f)),
                                   limits.GetCellIndex(Vector2f(0.5f, 0.5f)),
                                   limits.GetCellIndex(Vector2f(0.5f, 1.5f))}) {
@@ -165,8 +159,8 @@ TEST(ProbabilityGridTest, GetCellIndex) {
 TEST(ProbabilityGridTest, CorrectCropping) {
   // Create a probability grid with random values.
   std::mt19937 rng(42);
-  std::uniform_real_distribution<float> value_distribution(
+  std::uniform_real_distribution<float> value_distribution(kMinProbability,
-      mapping::kMinProbability, mapping::kMaxProbability);
+                                                           kMaxProbability);
   ProbabilityGrid probability_grid(
       MapLimits(0.05, Eigen::Vector2d(10., 10.), CellLimits(400, 400)));
   for (const Array2i& xy_index :
@@ -182,5 +176,5 @@ TEST(ProbabilityGridTest, CorrectCropping) {
 }
 
 }  // namespace
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/proto/cell_limits.proto

@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-package cartographer.mapping_2d.proto;
+package cartographer.mapping.proto;
 
 message CellLimits {
   int32 num_x_cells = 1;

cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.proto

@@ -14,15 +14,15 @@
 
 syntax = "proto3";
 
-package cartographer.mapping_2d.proto;
+package cartographer.mapping.proto;
 
 import "cartographer/mapping/proto/motion_filter_options.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
-import "cartographer/mapping_2d/proto/submaps_options.proto";
+import "cartographer/mapping_2d/proto/submaps_options_2d.proto";
 import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto";
 import "cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
 
-message LocalTrajectoryBuilderOptions {
+message LocalTrajectoryBuilderOptions2D {
   // Rangefinder points outside these ranges will be dropped.
   float min_range = 14;
   float max_range = 15;
@@ -41,8 +41,7 @@ message LocalTrajectoryBuilderOptions {
   float voxel_filter_size = 3;
 
   // Voxel filter used to compute a sparser point cloud for matching.
-  sensor.proto.AdaptiveVoxelFilterOptions
+  sensor.proto.AdaptiveVoxelFilterOptions adaptive_voxel_filter_options = 6;
-      adaptive_voxel_filter_options = 6;
 
   // Voxel filter used to compute a sparser point cloud for finding loop
   // closures.
@@ -52,11 +51,12 @@ message LocalTrajectoryBuilderOptions {
   // Whether to solve the online scan matching first using the correlative scan
   // matcher to generate a good starting point for Ceres.
   bool use_online_correlative_scan_matching = 5;
-  scan_matching.proto.RealTimeCorrelativeScanMatcherOptions
+  cartographer.mapping_2d.scan_matching.proto
-      real_time_correlative_scan_matcher_options = 7;
+      .RealTimeCorrelativeScanMatcherOptions
-  scan_matching.proto.CeresScanMatcherOptions
+          real_time_correlative_scan_matcher_options = 7;
+  cartographer.mapping_2d.scan_matching.proto.CeresScanMatcherOptions
       ceres_scan_matcher_options = 8;
-  mapping.proto.MotionFilterOptions motion_filter_options = 13;
+  MotionFilterOptions motion_filter_options = 13;
 
   // Time constant in seconds for the orientation moving average based on
   // observed gravity via the IMU. It should be chosen so that the error
@@ -66,7 +66,7 @@ message LocalTrajectoryBuilderOptions {
   // constant is increased) is balanced.
   double imu_gravity_time_constant = 17;
 
-  mapping_2d.proto.SubmapsOptions submaps_options = 11;
+  SubmapsOptions2D submaps_options = 11;
 
   // True if IMU data should be expected and used.
   bool use_imu_data = 12;

cartographer/mapping_2d/proto/map_limits.proto

@@ -17,7 +17,7 @@ syntax = "proto3";
 import "cartographer/mapping_2d/proto/cell_limits.proto";
 import "cartographer/transform/proto/transform.proto";
 
-package cartographer.mapping_2d.proto;
+package cartographer.mapping.proto;
 
 message MapLimits {
   double resolution = 1;

cartographer/mapping_2d/proto/probability_grid.proto

@@ -16,7 +16,7 @@ syntax = "proto3";
 
 import "cartographer/mapping_2d/proto/map_limits.proto";
 
-package cartographer.mapping_2d.proto;
+package cartographer.mapping.proto;
 
 message ProbabilityGrid {
   message CellBox {

cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto

@@ -14,9 +14,9 @@
 
 syntax = "proto3";
 
-package cartographer.mapping_2d.proto;
+package cartographer.mapping.proto;
 
-message RangeDataInserterOptions {
+message RangeDataInserterOptions2D {
   // Probability change for a hit (this will be converted to odds and therefore
   // must be greater than 0.5).
   double hit_probability = 1;

cartographer/mapping_2d/proto/submaps_options_2d.proto

@@ -14,11 +14,11 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping_2d/proto/range_data_inserter_options.proto";
+import "cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto";
 
-package cartographer.mapping_2d.proto;
+package cartographer.mapping.proto;
 
-message SubmapsOptions {
+message SubmapsOptions2D {
   // Resolution of the map in meters.
   double resolution = 1;
 
@@ -27,5 +27,5 @@ message SubmapsOptions {
   // matched against, then while being matched.
   int32 num_range_data = 3;
 
-  RangeDataInserterOptions range_data_inserter_options = 5;
+  RangeDataInserterOptions2D range_data_inserter_options = 5;
 }

cartographer/mapping_2d/range_data_inserter_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 
 #include <cstdlib>
 
@@ -26,11 +26,11 @@
 #include "glog/logging.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
-proto::RangeDataInserterOptions CreateRangeDataInserterOptions(
+proto::RangeDataInserterOptions2D CreateRangeDataInserterOptions2D(
     common::LuaParameterDictionary* const parameter_dictionary) {
-  proto::RangeDataInserterOptions options;
+  proto::RangeDataInserterOptions2D options;
   options.set_hit_probability(
       parameter_dictionary->GetDouble("hit_probability"));
   options.set_miss_probability(
@@ -44,16 +44,17 @@ proto::RangeDataInserterOptions CreateRangeDataInserterOptions(
   return options;
 }
 
-RangeDataInserter::RangeDataInserter(
+RangeDataInserter2D::RangeDataInserter2D(
-    const proto::RangeDataInserterOptions& options)
+    const proto::RangeDataInserterOptions2D& options)
     : options_(options),
-      hit_table_(mapping::ComputeLookupTableToApplyOdds(
+      hit_table_(
-          mapping::Odds(options.hit_probability()))),
+          ComputeLookupTableToApplyOdds(Odds(options.hit_probability()))),
-      miss_table_(mapping::ComputeLookupTableToApplyOdds(
+      miss_table_(
-          mapping::Odds(options.miss_probability()))) {}
+          ComputeLookupTableToApplyOdds(Odds(options.miss_probability()))) {}
 
-void RangeDataInserter::Insert(const sensor::RangeData& range_data,
+void RangeDataInserter2D::Insert(
-                               ProbabilityGrid* const probability_grid) const {
+    const sensor::RangeData& range_data,
+    ProbabilityGrid* const probability_grid) const {
   // 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(),
@@ -61,5 +62,5 @@ void RangeDataInserter::Insert(const sensor::RangeData& range_data,
   probability_grid->FinishUpdate();
 }
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/range_data_inserter_2d.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_H_
+#ifndef CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_H_
+#define CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_2D_H_
 
 #include <utility>
 #include <vector>
@@ -23,35 +23,36 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/port.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/range_data_inserter_options.pb.h"
+#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
 #include "cartographer/mapping_2d/xy_index.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
-proto::RangeDataInserterOptions CreateRangeDataInserterOptions(
+proto::RangeDataInserterOptions2D CreateRangeDataInserterOptions2D(
     common::LuaParameterDictionary* parameter_dictionary);
 
-class RangeDataInserter {
+class RangeDataInserter2D {
  public:
-  explicit RangeDataInserter(const proto::RangeDataInserterOptions& options);
+  explicit RangeDataInserter2D(
+      const proto::RangeDataInserterOptions2D& options);
 
-  RangeDataInserter(const RangeDataInserter&) = delete;
+  RangeDataInserter2D(const RangeDataInserter2D&) = delete;
-  RangeDataInserter& operator=(const RangeDataInserter&) = delete;
+  RangeDataInserter2D& operator=(const RangeDataInserter2D&) = delete;
 
   // Inserts 'range_data' into 'probability_grid'.
   void Insert(const sensor::RangeData& range_data,
               ProbabilityGrid* probability_grid) const;
 
  private:
-  const proto::RangeDataInserterOptions options_;
+  const proto::RangeDataInserterOptions2D options_;
   const std::vector<uint16> hit_table_;
   const std::vector<uint16> miss_table_;
 };
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_H_
+#endif  // CARTOGRAPHER_MAPPING_2D_RANGE_DATA_INSERTER_2D_H_

cartographer/mapping_2d/range_data_inserter_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 
 #include <memory>
 
@@ -26,12 +26,12 @@
 #include "gmock/gmock.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 namespace {
 
-class RangeDataInserterTest : public ::testing::Test {
+class RangeDataInserterTest2D : public ::testing::Test {
  protected:
-  RangeDataInserterTest()
+  RangeDataInserterTest2D()
       : probability_grid_(
             MapLimits(1., Eigen::Vector2d(1., 5.), CellLimits(5, 5))) {
     auto parameter_dictionary = common::MakeDictionary(
@@ -40,8 +40,8 @@ class RangeDataInserterTest : public ::testing::Test {
         "hit_probability = 0.7, "
         "miss_probability = 0.4, "
         "}");
-    options_ = CreateRangeDataInserterOptions(parameter_dictionary.get());
+    options_ = CreateRangeDataInserterOptions2D(parameter_dictionary.get());
-    range_data_inserter_ = common::make_unique<RangeDataInserter>(options_);
+    range_data_inserter_ = common::make_unique<RangeDataInserter2D>(options_);
   }
 
   void InsertPointCloud() {
@@ -57,11 +57,11 @@ class RangeDataInserterTest : public ::testing::Test {
   }
 
   ProbabilityGrid probability_grid_;
-  std::unique_ptr<RangeDataInserter> range_data_inserter_;
+  std::unique_ptr<RangeDataInserter2D> range_data_inserter_;
-  proto::RangeDataInserterOptions options_;
+  proto::RangeDataInserterOptions2D options_;
 };
 
-TEST_F(RangeDataInserterTest, InsertPointCloud) {
+TEST_F(RangeDataInserterTest2D, InsertPointCloud) {
   InsertPointCloud();
 
   EXPECT_NEAR(1., probability_grid_.limits().max().x(), 1e-9);
@@ -101,7 +101,7 @@ TEST_F(RangeDataInserterTest, InsertPointCloud) {
   }
 }
 
-TEST_F(RangeDataInserterTest, ProbabilityProgression) {
+TEST_F(RangeDataInserterTest2D, ProbabilityProgression) {
   InsertPointCloud();
   EXPECT_NEAR(
       options_.hit_probability(),
@@ -118,17 +118,17 @@ TEST_F(RangeDataInserterTest, ProbabilityProgression) {
     InsertPointCloud();
   }
   EXPECT_NEAR(
-      mapping::kMaxProbability,
+      kMaxProbability,
       probability_grid_.GetProbability(probability_grid_.limits().GetCellIndex(
           Eigen::Vector2f(-3.5f, 0.5f))),
       1e-3);
   EXPECT_NEAR(
-      mapping::kMinProbability,
+      kMinProbability,
       probability_grid_.GetProbability(probability_grid_.limits().GetCellIndex(
           Eigen::Vector2f(-2.5f, 0.5f))),
       1e-3);
 }
 
 }  // namespace
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/ray_casting.cc

@@ -17,8 +17,7 @@
 #include "cartographer/mapping_2d/ray_casting.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
-
 namespace {
 
 // Factor for subpixel accuracy of start and end point.
@@ -203,5 +202,5 @@ void CastRays(const sensor::RangeData& range_data,
   }
 }
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/ray_casting.h

@@ -26,7 +26,7 @@
 #include "cartographer/transform/transform.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
 // For each ray in 'range_data', inserts hits and misses into
 // 'probability_grid'. Hits are handled before misses.
@@ -35,7 +35,7 @@ void CastRays(const sensor::RangeData& range_data,
               const std::vector<uint16>& miss_table, bool insert_free_space,
               ProbabilityGrid* probability_grid);
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_MAPPING_2D_RAY_CASTING_H_

cartographer/mapping_2d/scan_matching/ceres_scan_matcher.cc

@@ -62,7 +62,7 @@ CeresScanMatcher::~CeresScanMatcher() {}
 void CeresScanMatcher::Match(const Eigen::Vector2d& target_translation,
                              const transform::Rigid2d& initial_pose_estimate,
                              const sensor::PointCloud& point_cloud,
-                             const ProbabilityGrid& probability_grid,
+                             const mapping::ProbabilityGrid& probability_grid,
                              transform::Rigid2d* const pose_estimate,
                              ceres::Solver::Summary* const summary) const {
   double ceres_pose_estimate[3] = {initial_pose_estimate.translation().x(),

cartographer/mapping_2d/scan_matching/ceres_scan_matcher.h

@@ -49,7 +49,7 @@ class CeresScanMatcher {
   void Match(const Eigen::Vector2d& target_translation,
              const transform::Rigid2d& initial_pose_estimate,
              const sensor::PointCloud& point_cloud,
-             const ProbabilityGrid& probability_grid,
+             const mapping::ProbabilityGrid& probability_grid,
              transform::Rigid2d* pose_estimate,
              ceres::Solver::Summary* summary) const;
 

cartographer/mapping_2d/scan_matching/ceres_scan_matcher_test.cc

@@ -35,8 +35,8 @@ namespace {
 class CeresScanMatcherTest : public ::testing::Test {
  protected:
   CeresScanMatcherTest()
-      : probability_grid_(
+      : probability_grid_(mapping::MapLimits(1., Eigen::Vector2d(10., 10.),
-            MapLimits(1., Eigen::Vector2d(10., 10.), CellLimits(20, 20))) {
+                                             mapping::CellLimits(20, 20))) {
     probability_grid_.SetProbability(
         probability_grid_.limits().GetCellIndex(Eigen::Vector2f(-3.5f, 2.5f)),
         mapping::kMaxProbability);
@@ -73,7 +73,7 @@ class CeresScanMatcherTest : public ::testing::Test {
         << "\nExpected: " << transform::ToProto(expected_pose).DebugString();
   }
 
-  ProbabilityGrid probability_grid_;
+  mapping::ProbabilityGrid probability_grid_;
   sensor::PointCloud point_cloud_;
   std::unique_ptr<CeresScanMatcher> ceres_scan_matcher_;
 };

cartographer/mapping_2d/scan_matching/correlative_scan_matcher.cc

@@ -71,7 +71,7 @@ SearchParameters::SearchParameters(const int num_linear_perturbations,
 }
 
 void SearchParameters::ShrinkToFit(const std::vector<DiscreteScan>& scans,
-                                   const CellLimits& cell_limits) {
+                                   const mapping::CellLimits& cell_limits) {
   CHECK_EQ(scans.size(), num_scans);
   CHECK_EQ(linear_bounds.size(), num_scans);
   for (int i = 0; i != num_scans; ++i) {
@@ -109,7 +109,8 @@ std::vector<sensor::PointCloud> GenerateRotatedScans(
 }
 
 std::vector<DiscreteScan> DiscretizeScans(
-    const MapLimits& map_limits, const std::vector<sensor::PointCloud>& scans,
+    const mapping::MapLimits& map_limits,
+    const std::vector<sensor::PointCloud>& scans,
     const Eigen::Translation2f& initial_translation) {
   std::vector<DiscreteScan> discrete_scans;
   discrete_scans.reserve(scans.size());

cartographer/mapping_2d/scan_matching/correlative_scan_matcher.h

@@ -50,7 +50,7 @@ struct SearchParameters {
 
   // Tightens the search window as much as possible.
   void ShrinkToFit(const std::vector<DiscreteScan>& scans,
-                   const CellLimits& cell_limits);
+                   const mapping::CellLimits& cell_limits);
 
   int num_angular_perturbations;
   double angular_perturbation_step_size;
@@ -67,7 +67,8 @@ std::vector<sensor::PointCloud> GenerateRotatedScans(
 // Translates and discretizes the rotated scans into a vector of integer
 // indices.
 std::vector<DiscreteScan> DiscretizeScans(
-    const MapLimits& map_limits, const std::vector<sensor::PointCloud>& scans,
+    const mapping::MapLimits& map_limits,
+    const std::vector<sensor::PointCloud>& scans,
     const Eigen::Translation2f& initial_translation);
 
 // A possible solution.

cartographer/mapping_2d/scan_matching/correlative_scan_matcher_test.cc

@@ -79,8 +79,8 @@ TEST(DiscretizeScans, DiscretizeScans) {
   point_cloud.emplace_back(-0.125f, 0.125f, 0.f);
   point_cloud.emplace_back(-0.125f, 0.075f, 0.f);
   point_cloud.emplace_back(-0.125f, 0.025f, 0.f);
-  const MapLimits map_limits(0.05, Eigen::Vector2d(0.05, 0.25),
+  const mapping::MapLimits map_limits(0.05, Eigen::Vector2d(0.05, 0.25),
-                             CellLimits(6, 6));
+                                      mapping::CellLimits(6, 6));
   const std::vector<sensor::PointCloud> scans =
       GenerateRotatedScans(point_cloud, SearchParameters(0, 0, 0., 0.));
   const std::vector<DiscreteScan> discrete_scans =

cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc

@@ -89,8 +89,9 @@ CreateFastCorrelativeScanMatcherOptions(
 }
 
 PrecomputationGrid::PrecomputationGrid(
-    const ProbabilityGrid& probability_grid, const CellLimits& limits,
+    const mapping::ProbabilityGrid& probability_grid,
-    const int width, std::vector<float>* reusable_intermediate_grid)
+    const mapping::CellLimits& limits, const int width,
+    std::vector<float>* reusable_intermediate_grid)
     : offset_(-width + 1, -width + 1),
       wide_limits_(limits.num_x_cells + width - 1,
                    limits.num_y_cells + width - 1),
@@ -170,13 +171,13 @@ uint8 PrecomputationGrid::ComputeCellValue(const float probability) const {
 class PrecomputationGridStack {
  public:
   PrecomputationGridStack(
-      const ProbabilityGrid& probability_grid,
+      const mapping::ProbabilityGrid& probability_grid,
       const proto::FastCorrelativeScanMatcherOptions& options) {
     CHECK_GE(options.branch_and_bound_depth(), 1);
     const int max_width = 1 << (options.branch_and_bound_depth() - 1);
     precomputation_grids_.reserve(options.branch_and_bound_depth());
     std::vector<float> reusable_intermediate_grid;
-    const CellLimits limits = probability_grid.limits().cell_limits();
+    const mapping::CellLimits limits = probability_grid.limits().cell_limits();
     reusable_intermediate_grid.reserve((limits.num_x_cells + max_width - 1) *
                                        limits.num_y_cells);
     for (int i = 0; i != options.branch_and_bound_depth(); ++i) {
@@ -197,7 +198,7 @@ class PrecomputationGridStack {
 };
 
 FastCorrelativeScanMatcher::FastCorrelativeScanMatcher(
-    const ProbabilityGrid& probability_grid,
+    const mapping::ProbabilityGrid& probability_grid,
     const proto::FastCorrelativeScanMatcherOptions& options)
     : options_(options),
       limits_(probability_grid.limits()),

cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.h

@@ -49,8 +49,8 @@ CreateFastCorrelativeScanMatcherOptions(
 // y0 <= y < y0.
 class PrecomputationGrid {
  public:
-  PrecomputationGrid(const ProbabilityGrid& probability_grid,
+  PrecomputationGrid(const mapping::ProbabilityGrid& probability_grid,
-                     const CellLimits& limits, int width,
+                     const mapping::CellLimits& limits, int width,
                      std::vector<float>* reusable_intermediate_grid);
 
   // Returns a value between 0 and 255 to represent probabilities between
@@ -87,7 +87,7 @@ class PrecomputationGrid {
   const Eigen::Array2i offset_;
 
   // Size of the precomputation grid.
-  const CellLimits wide_limits_;
+  const mapping::CellLimits wide_limits_;
 
   // Probabilites mapped to 0 to 255.
   std::vector<uint8> cells_;
@@ -99,7 +99,7 @@ class PrecomputationGridStack;
 class FastCorrelativeScanMatcher {
  public:
   FastCorrelativeScanMatcher(
-      const ProbabilityGrid& probability_grid,
+      const mapping::ProbabilityGrid& probability_grid,
       const proto::FastCorrelativeScanMatcherOptions& options);
   ~FastCorrelativeScanMatcher();
 
@@ -146,7 +146,7 @@ class FastCorrelativeScanMatcher {
                            int candidate_depth, float min_score) const;
 
   const proto::FastCorrelativeScanMatcherOptions options_;
-  MapLimits limits_;
+  mapping::MapLimits limits_;
   std::unique_ptr<PrecomputationGridStack> precomputation_grid_stack_;
 };
 

cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc

@@ -24,7 +24,7 @@
 
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"
@@ -39,10 +39,10 @@ TEST(PrecomputationGridTest, CorrectValues) {
   // represented by uint8 values.
   std::mt19937 prng(42);
   std::uniform_int_distribution<int> distribution(0, 255);
-  ProbabilityGrid probability_grid(
+  mapping::ProbabilityGrid probability_grid(mapping::MapLimits(
-      MapLimits(0.05, Eigen::Vector2d(5., 5.), CellLimits(250, 250)));
+      0.05, Eigen::Vector2d(5., 5.), mapping::CellLimits(250, 250)));
-  for (const Eigen::Array2i& xy_index :
+  for (const Eigen::Array2i& xy_index : mapping::XYIndexRangeIterator(
-       XYIndexRangeIterator(Eigen::Array2i(50, 50), Eigen::Array2i(249, 249))) {
+           Eigen::Array2i(50, 50), Eigen::Array2i(249, 249))) {
     probability_grid.SetProbability(
         xy_index, PrecomputationGrid::ToProbability(distribution(prng)));
   }
@@ -52,8 +52,8 @@ TEST(PrecomputationGridTest, CorrectValues) {
     PrecomputationGrid precomputation_grid(
         probability_grid, probability_grid.limits().cell_limits(), width,
         &reusable_intermediate_grid);
-    for (const Eigen::Array2i& xy_index :
+    for (const Eigen::Array2i& xy_index : mapping::XYIndexRangeIterator(
-         XYIndexRangeIterator(probability_grid.limits().cell_limits())) {
+             probability_grid.limits().cell_limits())) {
       float max_score = -std::numeric_limits<float>::infinity();
       for (int y = 0; y != width; ++y) {
         for (int x = 0; x != width; ++x) {
@@ -73,10 +73,10 @@ TEST(PrecomputationGridTest, CorrectValues) {
 TEST(PrecomputationGridTest, TinyProbabilityGrid) {
   std::mt19937 prng(42);
   std::uniform_int_distribution<int> distribution(0, 255);
-  ProbabilityGrid probability_grid(
+  mapping::ProbabilityGrid probability_grid(mapping::MapLimits(
-      MapLimits(0.05, Eigen::Vector2d(0.1, 0.1), CellLimits(4, 4)));
+      0.05, Eigen::Vector2d(0.1, 0.1), mapping::CellLimits(4, 4)));
   for (const Eigen::Array2i& xy_index :
-       XYIndexRangeIterator(probability_grid.limits().cell_limits())) {
+       mapping::XYIndexRangeIterator(probability_grid.limits().cell_limits())) {
     probability_grid.SetProbability(
         xy_index, PrecomputationGrid::ToProbability(distribution(prng)));
   }
@@ -86,8 +86,8 @@ TEST(PrecomputationGridTest, TinyProbabilityGrid) {
     PrecomputationGrid precomputation_grid(
         probability_grid, probability_grid.limits().cell_limits(), width,
         &reusable_intermediate_grid);
-    for (const Eigen::Array2i& xy_index :
+    for (const Eigen::Array2i& xy_index : mapping::XYIndexRangeIterator(
-         XYIndexRangeIterator(probability_grid.limits().cell_limits())) {
+             probability_grid.limits().cell_limits())) {
       float max_score = -std::numeric_limits<float>::infinity();
       for (int y = 0; y != width; ++y) {
         for (int x = 0; x != width; ++x) {
@@ -116,21 +116,22 @@ CreateFastCorrelativeScanMatcherTestOptions(const int branch_and_bound_depth) {
   return CreateFastCorrelativeScanMatcherOptions(parameter_dictionary.get());
 }
 
-mapping_2d::proto::RangeDataInserterOptions
+mapping::proto::RangeDataInserterOptions2D
-CreateRangeDataInserterTestOptions() {
+CreateRangeDataInserterTestOptions2D() {
   auto parameter_dictionary = common::MakeDictionary(R"text(
       return {
         insert_free_space = true,
         hit_probability = 0.7,
         miss_probability = 0.4,
       })text");
-  return mapping_2d::CreateRangeDataInserterOptions(parameter_dictionary.get());
+  return mapping::CreateRangeDataInserterOptions2D(parameter_dictionary.get());
 }
 
 TEST(FastCorrelativeScanMatcherTest, CorrectPose) {
   std::mt19937 prng(42);
   std::uniform_real_distribution<float> distribution(-1.f, 1.f);
-  RangeDataInserter range_data_inserter(CreateRangeDataInserterTestOptions());
+  mapping::RangeDataInserter2D range_data_inserter(
+      CreateRangeDataInserterTestOptions2D());
   constexpr float kMinScore = 0.1f;
   const auto options = CreateFastCorrelativeScanMatcherTestOptions(3);
 
@@ -147,8 +148,8 @@ TEST(FastCorrelativeScanMatcherTest, CorrectPose) {
         {2. * distribution(prng), 2. * distribution(prng)},
         0.5 * distribution(prng));
 
-    ProbabilityGrid probability_grid(
+    mapping::ProbabilityGrid probability_grid(mapping::MapLimits(
-        MapLimits(0.05, Eigen::Vector2d(5., 5.), CellLimits(200, 200)));
+        0.05, Eigen::Vector2d(5., 5.), mapping::CellLimits(200, 200)));
     range_data_inserter.Insert(
         sensor::RangeData{
             Eigen::Vector3f(expected_pose.translation().x(),
@@ -177,7 +178,8 @@ TEST(FastCorrelativeScanMatcherTest, CorrectPose) {
 TEST(FastCorrelativeScanMatcherTest, FullSubmapMatching) {
   std::mt19937 prng(42);
   std::uniform_real_distribution<float> distribution(-1.f, 1.f);
-  RangeDataInserter range_data_inserter(CreateRangeDataInserterTestOptions());
+  mapping::RangeDataInserter2D range_data_inserter(
+      CreateRangeDataInserterTestOptions2D());
   constexpr float kMinScore = 0.1f;
   const auto options = CreateFastCorrelativeScanMatcherTestOptions(6);
 
@@ -200,8 +202,8 @@ TEST(FastCorrelativeScanMatcherTest, FullSubmapMatching) {
                            0.5 * distribution(prng)) *
         perturbation.inverse();
 
-    ProbabilityGrid probability_grid(
+    mapping::ProbabilityGrid probability_grid(mapping::MapLimits(
-        MapLimits(0.05, Eigen::Vector2d(5., 5.), CellLimits(200, 200)));
+        0.05, Eigen::Vector2d(5., 5.), mapping::CellLimits(200, 200)));
     range_data_inserter.Insert(
         sensor::RangeData{
             transform::Embed3D(expected_pose * perturbation).translation(),

cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc

@@ -91,7 +91,7 @@ RealTimeCorrelativeScanMatcher::GenerateExhaustiveSearchCandidates(
 double RealTimeCorrelativeScanMatcher::Match(
     const transform::Rigid2d& initial_pose_estimate,
     const sensor::PointCloud& point_cloud,
-    const ProbabilityGrid& probability_grid,
+    const mapping::ProbabilityGrid& probability_grid,
     transform::Rigid2d* pose_estimate) const {
   CHECK_NOTNULL(pose_estimate);
 
@@ -125,7 +125,7 @@ double RealTimeCorrelativeScanMatcher::Match(
 }
 
 void RealTimeCorrelativeScanMatcher::ScoreCandidates(
-    const ProbabilityGrid& probability_grid,
+    const mapping::ProbabilityGrid& probability_grid,
     const std::vector<DiscreteScan>& discrete_scans,
     const SearchParameters& search_parameters,
     std::vector<Candidate>* const candidates) const {

cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.h

@@ -69,7 +69,7 @@ class RealTimeCorrelativeScanMatcher {
   // returns the score.
   double Match(const transform::Rigid2d& initial_pose_estimate,
                const sensor::PointCloud& point_cloud,
-               const ProbabilityGrid& probability_grid,
+               const mapping::ProbabilityGrid& probability_grid,
                transform::Rigid2d* pose_estimate) const;
 
   // Computes the score for each Candidate in a collection. The cost is computed
@@ -77,7 +77,7 @@ class RealTimeCorrelativeScanMatcher {
   // http://ceres-solver.org/modeling.html
   //
   // Visible for testing.
-  void ScoreCandidates(const ProbabilityGrid& probability_grid,
+  void ScoreCandidates(const mapping::ProbabilityGrid& probability_grid,
                        const std::vector<DiscreteScan>& discrete_scans,
                        const SearchParameters& search_parameters,
                        std::vector<Candidate>* candidates) const;

cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_test.cc

@@ -23,7 +23,7 @@
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"
@@ -36,8 +36,8 @@ namespace {
 class RealTimeCorrelativeScanMatcherTest : public ::testing::Test {
  protected:
   RealTimeCorrelativeScanMatcherTest()
-      : probability_grid_(
+      : probability_grid_(mapping::MapLimits(0.05, Eigen::Vector2d(0.05, 0.25),
-            MapLimits(0.05, Eigen::Vector2d(0.05, 0.25), CellLimits(6, 6))) {
+                                             mapping::CellLimits(6, 6))) {
     {
       auto parameter_dictionary = common::MakeDictionary(
           "return { "
@@ -45,8 +45,9 @@ class RealTimeCorrelativeScanMatcherTest : public ::testing::Test {
           "hit_probability = 0.7, "
           "miss_probability = 0.4, "
           "}");
-      range_data_inserter_ = common::make_unique<RangeDataInserter>(
+      range_data_inserter_ = common::make_unique<mapping::RangeDataInserter2D>(
-          CreateRangeDataInserterOptions(parameter_dictionary.get()));
+          mapping::CreateRangeDataInserterOptions2D(
+              parameter_dictionary.get()));
     }
     point_cloud_.emplace_back(0.025f, 0.175f, 0.f);
     point_cloud_.emplace_back(-0.025f, 0.175f, 0.f);
@@ -74,8 +75,8 @@ class RealTimeCorrelativeScanMatcherTest : public ::testing::Test {
     }
   }
 
-  ProbabilityGrid probability_grid_;
+  mapping::ProbabilityGrid probability_grid_;
-  std::unique_ptr<RangeDataInserter> range_data_inserter_;
+  std::unique_ptr<mapping::RangeDataInserter2D> range_data_inserter_;
   sensor::PointCloud point_cloud_;
   std::unique_ptr<RealTimeCorrelativeScanMatcher>
       real_time_correlative_scan_matcher_;

cartographer/mapping_2d/submap_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 
 #include <cinttypes>
 #include <cmath>
@@ -28,7 +28,7 @@
 #include "glog/logging.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
 ProbabilityGrid ComputeCroppedProbabilityGrid(
     const ProbabilityGrid& probability_grid) {
@@ -49,33 +49,33 @@ ProbabilityGrid ComputeCroppedProbabilityGrid(
   return cropped_grid;
 }
 
-proto::SubmapsOptions CreateSubmapsOptions(
+proto::SubmapsOptions2D CreateSubmapsOptions2D(
     common::LuaParameterDictionary* const parameter_dictionary) {
-  proto::SubmapsOptions options;
+  proto::SubmapsOptions2D options;
   options.set_resolution(parameter_dictionary->GetDouble("resolution"));
   options.set_num_range_data(
       parameter_dictionary->GetNonNegativeInt("num_range_data"));
   *options.mutable_range_data_inserter_options() =
-      CreateRangeDataInserterOptions(
+      CreateRangeDataInserterOptions2D(
           parameter_dictionary->GetDictionary("range_data_inserter").get());
   CHECK_GT(options.num_range_data(), 0);
   return options;
 }
 
-Submap::Submap(const MapLimits& limits, const Eigen::Vector2f& origin)
+Submap2D::Submap2D(const MapLimits& limits, const Eigen::Vector2f& origin)
-    : mapping::Submap(transform::Rigid3d::Translation(
+    : Submap(transform::Rigid3d::Translation(
           Eigen::Vector3d(origin.x(), origin.y(), 0.))),
       probability_grid_(limits) {}
 
-Submap::Submap(const mapping::proto::Submap2D& proto)
+Submap2D::Submap2D(const proto::Submap2D& proto)
-    : mapping::Submap(transform::ToRigid3(proto.local_pose())),
+    : Submap(transform::ToRigid3(proto.local_pose())),
       probability_grid_(ProbabilityGrid(proto.probability_grid())) {
   SetNumRangeData(proto.num_range_data());
   SetFinished(proto.finished());
 }
 
-void Submap::ToProto(mapping::proto::Submap* const proto,
+void Submap2D::ToProto(proto::Submap* const proto,
-                     bool include_probability_grid_data) const {
+                       bool include_probability_grid_data) const {
   auto* const submap_2d = proto->mutable_submap_2d();
   *submap_2d->mutable_local_pose() = transform::ToProto(local_pose());
   submap_2d->set_num_range_data(num_range_data());
@@ -85,7 +85,7 @@ void Submap::ToProto(mapping::proto::Submap* const proto,
   }
 }
 
-void Submap::UpdateFromProto(const mapping::proto::Submap& proto) {
+void Submap2D::UpdateFromProto(const proto::Submap& proto) {
   CHECK(proto.has_submap_2d());
   const auto& submap_2d = proto.submap_2d();
   SetNumRangeData(submap_2d.num_range_data());
@@ -95,9 +95,9 @@ void Submap::UpdateFromProto(const mapping::proto::Submap& proto) {
   }
 }
 
-void Submap::ToResponseProto(
+void Submap2D::ToResponseProto(
     const transform::Rigid3d&,
-    mapping::proto::SubmapQuery::Response* const response) const {
+    proto::SubmapQuery::Response* const response) const {
   response->set_submap_version(num_range_data());
 
   Eigen::Array2i offset;
@@ -114,7 +114,7 @@ void Submap::ToResponseProto(
       // is currently white, so walls will look too gray. This should be hard to
       // detect visually for the user, though.
       const int delta =
-          128 - mapping::ProbabilityToLogOddsInteger(
+          128 - ProbabilityToLogOddsInteger(
                     probability_grid_.GetProbability(xy_index + offset));
       const uint8 alpha = delta > 0 ? 0 : -delta;
       const uint8 value = delta > 0 ? delta : 0;
@@ -126,7 +126,7 @@ void Submap::ToResponseProto(
       cells.push_back(0);                                    // alpha
     }
   }
-  mapping::proto::SubmapQuery::Response::SubmapTexture* const texture =
+  proto::SubmapQuery::Response::SubmapTexture* const texture =
       response->add_textures();
   common::FastGzipString(cells, texture->mutable_cells());
 
@@ -143,20 +143,20 @@ void Submap::ToResponseProto(
       transform::Rigid3d::Translation(Eigen::Vector3d(max_x, max_y, 0.)));
 }
 
-void Submap::InsertRangeData(const sensor::RangeData& range_data,
+void Submap2D::InsertRangeData(const sensor::RangeData& range_data,
-                             const RangeDataInserter& range_data_inserter) {
+                               const RangeDataInserter2D& range_data_inserter) {
   CHECK(!finished());
   range_data_inserter.Insert(range_data, &probability_grid_);
   SetNumRangeData(num_range_data() + 1);
 }
 
-void Submap::Finish() {
+void Submap2D::Finish() {
   CHECK(!finished());
   probability_grid_ = ComputeCroppedProbabilityGrid(probability_grid_);
   SetFinished(true);
 }
 
-ActiveSubmaps::ActiveSubmaps(const proto::SubmapsOptions& options)
+ActiveSubmaps2D::ActiveSubmaps2D(const proto::SubmapsOptions2D& options)
     : options_(options),
       range_data_inserter_(options.range_data_inserter_options()) {
   // We always want to have at least one likelihood field which we can return,
@@ -164,7 +164,7 @@ ActiveSubmaps::ActiveSubmaps(const proto::SubmapsOptions& options)
   AddSubmap(Eigen::Vector2f::Zero());
 }
 
-void ActiveSubmaps::InsertRangeData(const sensor::RangeData& range_data) {
+void ActiveSubmaps2D::InsertRangeData(const sensor::RangeData& range_data) {
   for (auto& submap : submaps_) {
     submap->InsertRangeData(range_data, range_data_inserter_);
   }
@@ -173,27 +173,27 @@ void ActiveSubmaps::InsertRangeData(const sensor::RangeData& range_data) {
   }
 }
 
-std::vector<std::shared_ptr<Submap>> ActiveSubmaps::submaps() const {
+std::vector<std::shared_ptr<Submap2D>> ActiveSubmaps2D::submaps() const {
   return submaps_;
 }
 
-int ActiveSubmaps::matching_index() const { return matching_submap_index_; }
+int ActiveSubmaps2D::matching_index() const { return matching_submap_index_; }
 
-void ActiveSubmaps::FinishSubmap() {
+void ActiveSubmaps2D::FinishSubmap() {
-  Submap* submap = submaps_.front().get();
+  Submap2D* submap = submaps_.front().get();
   submap->Finish();
   ++matching_submap_index_;
   submaps_.erase(submaps_.begin());
 }
 
-void ActiveSubmaps::AddSubmap(const Eigen::Vector2f& origin) {
+void ActiveSubmaps2D::AddSubmap(const Eigen::Vector2f& origin) {
   if (submaps_.size() > 1) {
     // This will crop the finished Submap before inserting a new Submap to
     // reduce peak memory usage a bit.
     FinishSubmap();
   }
   constexpr int kInitialSubmapSize = 100;
-  submaps_.push_back(common::make_unique<Submap>(
+  submaps_.push_back(common::make_unique<Submap2D>(
       MapLimits(options_.resolution(),
                 origin.cast<double>() + 0.5 * kInitialSubmapSize *
                                             options_.resolution() *
@@ -203,5 +203,5 @@ void ActiveSubmaps::AddSubmap(const Eigen::Vector2f& origin) {
   LOG(INFO) << "Added submap " << matching_submap_index_ + submaps_.size();
 }
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/submap_2d.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SUBMAPS_H_
+#ifndef CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SUBMAPS_H_
+#define CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_
 
 #include <memory>
 #include <vector>
@@ -28,39 +28,38 @@
 #include "cartographer/mapping/trajectory_node.h"
 #include "cartographer/mapping_2d/map_limits.h"
 #include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/submaps_options.pb.h"
+#include "cartographer/mapping_2d/proto/submaps_options_2d.pb.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
+#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
 ProbabilityGrid ComputeCroppedProbabilityGrid(
     const ProbabilityGrid& probability_grid);
 
-proto::SubmapsOptions CreateSubmapsOptions(
+proto::SubmapsOptions2D CreateSubmapsOptions2D(
     common::LuaParameterDictionary* parameter_dictionary);
 
-class Submap : public mapping::Submap {
+class Submap2D : public Submap {
  public:
-  Submap(const MapLimits& limits, const Eigen::Vector2f& origin);
+  Submap2D(const MapLimits& limits, const Eigen::Vector2f& origin);
-  explicit Submap(const mapping::proto::Submap2D& proto);
+  explicit Submap2D(const proto::Submap2D& proto);
 
-  void ToProto(mapping::proto::Submap* proto,
+  void ToProto(proto::Submap* proto,
                bool include_probability_grid_data) const override;
-  void UpdateFromProto(const mapping::proto::Submap& proto) override;
+  void UpdateFromProto(const proto::Submap& proto) override;
 
-  void ToResponseProto(
+  void ToResponseProto(const transform::Rigid3d& global_submap_pose,
-      const transform::Rigid3d& global_submap_pose,
+                       proto::SubmapQuery::Response* response) const override;
-      mapping::proto::SubmapQuery::Response* response) const override;
 
   const ProbabilityGrid& probability_grid() const { return probability_grid_; }
 
   // Insert 'range_data' into this submap using 'range_data_inserter'. The
   // submap must not be finished yet.
   void InsertRangeData(const sensor::RangeData& range_data,
-                       const RangeDataInserter& range_data_inserter);
+                       const RangeDataInserter2D& range_data_inserter);
   void Finish();
 
  private:
@@ -76,12 +75,12 @@ class Submap : public mapping::Submap {
 // considered initialized: the old submap is no longer changed, the "new" submap
 // is now the "old" submap and is used for scan-to-map matching. Moreover, a
 // "new" submap gets created. The "old" submap is forgotten by this object.
-class ActiveSubmaps {
+class ActiveSubmaps2D {
  public:
-  explicit ActiveSubmaps(const proto::SubmapsOptions& options);
+  explicit ActiveSubmaps2D(const proto::SubmapsOptions2D& options);
 
-  ActiveSubmaps(const ActiveSubmaps&) = delete;
+  ActiveSubmaps2D(const ActiveSubmaps2D&) = delete;
-  ActiveSubmaps& operator=(const ActiveSubmaps&) = delete;
+  ActiveSubmaps2D& operator=(const ActiveSubmaps2D&) = delete;
 
   // Returns the index of the newest initialized Submap which can be
   // used for scan-to-map matching.
@@ -90,19 +89,19 @@ class ActiveSubmaps {
   // Inserts 'range_data' into the Submap collection.
   void InsertRangeData(const sensor::RangeData& range_data);
 
-  std::vector<std::shared_ptr<Submap>> submaps() const;
+  std::vector<std::shared_ptr<Submap2D>> submaps() const;
 
  private:
   void FinishSubmap();
   void AddSubmap(const Eigen::Vector2f& origin);
 
-  const proto::SubmapsOptions options_;
+  const proto::SubmapsOptions2D options_;
   int matching_submap_index_ = 0;
-  std::vector<std::shared_ptr<Submap>> submaps_;
+  std::vector<std::shared_ptr<Submap2D>> submaps_;
-  RangeDataInserter range_data_inserter_;
+  RangeDataInserter2D range_data_inserter_;
 };
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SUBMAPS_H_
+#endif  // CARTOGRAPHER_MAPPING_2D_SUBMAP_2D_H_

cartographer/mapping_2d/submap_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 
 #include <map>
 #include <memory>
@@ -28,10 +28,10 @@
 #include "gmock/gmock.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 namespace {
 
-TEST(SubmapsTest, TheRightNumberOfRangeDataAreInserted) {
+TEST(Submap2DTest, TheRightNumberOfRangeDataAreInserted) {
   constexpr int kNumRangeData = 10;
   auto parameter_dictionary = common::MakeDictionary(
       "return {"
@@ -45,8 +45,8 @@ TEST(SubmapsTest, TheRightNumberOfRangeDataAreInserted) {
       "miss_probability = 0.495, "
       "},"
       "}");
-  ActiveSubmaps submaps{CreateSubmapsOptions(parameter_dictionary.get())};
+  ActiveSubmaps2D submaps{CreateSubmapsOptions2D(parameter_dictionary.get())};
-  std::set<std::shared_ptr<Submap>> all_submaps;
+  std::set<std::shared_ptr<Submap2D>> all_submaps;
   for (int i = 0; i != 1000; ++i) {
     submaps.InsertRangeData({Eigen::Vector3f::Zero(), {}, {}});
     // Except for the first, maps should only be returned after enough range
@@ -68,14 +68,15 @@ TEST(SubmapsTest, TheRightNumberOfRangeDataAreInserted) {
   EXPECT_EQ(correct_num_range_data, all_submaps.size() - 2);
 }
 
-TEST(SubmapsTest, ToFromProto) {
+TEST(Submap2DTest, ToFromProto) {
-  Submap expected(MapLimits(1., Eigen::Vector2d(2., 3.), CellLimits(100, 110)),
+  Submap2D expected(
-                  Eigen::Vector2f(4.f, 5.f));
+      MapLimits(1., Eigen::Vector2d(2., 3.), CellLimits(100, 110)),
-  mapping::proto::Submap proto;
+      Eigen::Vector2f(4.f, 5.f));
+  proto::Submap proto;
   expected.ToProto(&proto, true /* include_probability_grid_data */);
   EXPECT_TRUE(proto.has_submap_2d());
   EXPECT_FALSE(proto.has_submap_3d());
-  const auto actual = Submap(proto.submap_2d());
+  const auto actual = Submap2D(proto.submap_2d());
   EXPECT_TRUE(expected.local_pose().translation().isApprox(
       actual.local_pose().translation(), 1e-6));
   EXPECT_TRUE(expected.local_pose().rotation().isApprox(
@@ -91,5 +92,5 @@ TEST(SubmapsTest, ToFromProto) {
 }
 
 }  // namespace
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_2d/xy_index.h

@@ -29,7 +29,7 @@
 #include "glog/logging.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 
 struct CellLimits {
   CellLimits() = default;
@@ -108,7 +108,7 @@ class XYIndexRangeIterator
   Eigen::Array2i xy_index_;
 };
 
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer
 
 #endif  // CARTOGRAPHER_MAPPING_2D_XY_INDEX_H_

cartographer/mapping_2d/xy_index_test.cc

@@ -19,7 +19,7 @@
 #include "gtest/gtest.h"
 
 namespace cartographer {
-namespace mapping_2d {
+namespace mapping {
 namespace {
 
 TEST(XYIndexTest, CellLimitsToProto) {
@@ -57,5 +57,5 @@ TEST(XYIndexTest, XYIndexRangeIterator) {
 }
 
 }  // namespace
-}  // namespace mapping_2d
+}  // namespace mapping
 }  // namespace cartographer

cartographer/mapping_3d/submaps.h

@@ -27,7 +27,6 @@
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap_visualization.pb.h"
 #include "cartographer/mapping/submaps.h"
-#include "cartographer/mapping_2d/range_data_inserter.h"
 #include "cartographer/mapping_3d/hybrid_grid.h"
 #include "cartographer/mapping_3d/proto/submaps_options.pb.h"
 #include "cartographer/mapping_3d/range_data_inserter.h"

cartographer_grpc/map_builder_context.cc

@@ -70,22 +70,22 @@ void MapBuilderContext::NotifyFinishTrajectory(int trajectory_id) {
   map_builder_server_->NotifyFinishTrajectory(trajectory_id);
 }
 
-std::shared_ptr<cartographer::mapping_2d::Submap>
+std::shared_ptr<cartographer::mapping::Submap2D>
 MapBuilderContext::UpdateSubmap2D(
     const cartographer::mapping::proto::Submap& proto) {
   CHECK(proto.has_submap_2d());
   cartographer::mapping::SubmapId submap_id{proto.submap_id().trajectory_id(),
                                             proto.submap_id().submap_index()};
-  std::shared_ptr<cartographer::mapping_2d::Submap> submap_2d_ptr;
+  std::shared_ptr<cartographer::mapping::Submap2D> submap_2d_ptr;
   auto submap_it = unfinished_submaps_.find(submap_id);
   if (submap_it == unfinished_submaps_.end()) {
     // Seeing a submap for the first time it should never be finished.
     CHECK(!proto.submap_2d().finished());
     submap_2d_ptr =
-        std::make_shared<cartographer::mapping_2d::Submap>(proto.submap_2d());
+        std::make_shared<cartographer::mapping::Submap2D>(proto.submap_2d());
     unfinished_submaps_.Insert(submap_id, submap_2d_ptr);
   } else {
-    submap_2d_ptr = std::dynamic_pointer_cast<cartographer::mapping_2d::Submap>(
+    submap_2d_ptr = std::dynamic_pointer_cast<cartographer::mapping::Submap2D>(
         submap_it->data);
     CHECK(submap_2d_ptr);
     submap_2d_ptr->UpdateFromProto(proto);
@@ -146,8 +146,7 @@ MapBuilderContext::ProcessLocalSlamResultData(
   CHECK_GE(proto.submaps().size(), 1);
   CHECK(proto.submaps(0).has_submap_2d() || proto.submaps(0).has_submap_3d());
   if (proto.submaps(0).has_submap_2d()) {
-    std::vector<std::shared_ptr<const cartographer::mapping_2d::Submap>>
+    std::vector<std::shared_ptr<const cartographer::mapping::Submap2D>> submaps;
-        submaps;
     for (const auto& submap_proto : proto.submaps()) {
       submaps.push_back(UpdateSubmap2D(submap_proto));
     }

cartographer_grpc/map_builder_context.h

@@ -17,7 +17,7 @@
 #ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
 #define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
 
-#include "cartographer/mapping_2d/submaps.h"
+#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/mapping_3d/submaps.h"
 #include "cartographer_grpc/map_builder_context_interface.h"
 
@@ -51,7 +51,7 @@ class MapBuilderContext : public MapBuilderContextInterface {
           local_slam_result_data) override;
 
  private:
-  std::shared_ptr<cartographer::mapping_2d::Submap> UpdateSubmap2D(
+  std::shared_ptr<cartographer::mapping::Submap2D> UpdateSubmap2D(
       const cartographer::mapping::proto::Submap& proto);
   std::shared_ptr<cartographer::mapping_3d::Submap> UpdateSubmap3D(
       const cartographer::mapping::proto::Submap& proto);