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Move PoseGraph::GetSubmapData to the PoseGraphInterface. (#1783) 

Related to #1413.

Signed-off-by: Wolfgang Hess <whess@lyft.com>
master
Wolfgang Hess 2020-11-23 11:02:39 +01:00 committed by GitHub
parent 605838855f
commit fdcf0eb0df
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GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 12 additions and 5 deletions
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5
cartographer/cloud/internal/client/pose_graph_stub.cc
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@ -52,6 +52,11 @@ PoseGraphStub::GetAllSubmapData() const {
LOG(FATAL) << "Not implemented"; LOG(FATAL) << "Not implemented";
} }
mapping::PoseGraphInterface::SubmapData PoseGraphStub::GetSubmapData(
const mapping::SubmapId& submap_id) const {
LOG(FATAL) << "Not implemented";
}
mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapPose> mapping::MapById<mapping::SubmapId, mapping::PoseGraphInterface::SubmapPose>
PoseGraphStub::GetAllSubmapPoses() const { PoseGraphStub::GetAllSubmapPoses() const {
google::protobuf::Empty request; google::protobuf::Empty request;

1
cartographer/cloud/internal/client/pose_graph_stub.h
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@ -34,6 +34,7 @@ class PoseGraphStub : public ::cartographer::mapping::PoseGraphInterface {
void RunFinalOptimization() override; void RunFinalOptimization() override;
mapping::MapById<mapping::SubmapId, SubmapData> GetAllSubmapData() mapping::MapById<mapping::SubmapId, SubmapData> GetAllSubmapData()
const override; const override;
SubmapData GetSubmapData(const mapping::SubmapId& submap_id) const override;
mapping::MapById<mapping::SubmapId, SubmapPose> GetAllSubmapPoses() mapping::MapById<mapping::SubmapId, SubmapPose> GetAllSubmapPoses()
const override; const override;
transform::Rigid3d GetLocalToGlobalTransform( transform::Rigid3d GetLocalToGlobalTransform(

1
cartographer/mapping/internal/testing/mock_pose_graph.h
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@ -34,6 +34,7 @@ class MockPoseGraph : public mapping::PoseGraphInterface {
MOCK_METHOD0(RunFinalOptimization, void()); MOCK_METHOD0(RunFinalOptimization, void());
MOCK_CONST_METHOD0(GetAllSubmapData, MOCK_CONST_METHOD0(GetAllSubmapData,
mapping::MapById<mapping::SubmapId, SubmapData>()); mapping::MapById<mapping::SubmapId, SubmapData>());
MOCK_CONST_METHOD1(GetSubmapData, SubmapData(const SubmapId&));
MOCK_CONST_METHOD0(GetAllSubmapPoses, MOCK_CONST_METHOD0(GetAllSubmapPoses,
mapping::MapById<mapping::SubmapId, SubmapPose>()); mapping::MapById<mapping::SubmapId, SubmapPose>());
MOCK_CONST_METHOD1(GetLocalToGlobalTransform, transform::Rigid3d(int)); MOCK_CONST_METHOD1(GetLocalToGlobalTransform, transform::Rigid3d(int));

5
cartographer/mapping/pose_graph.h
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@ -112,11 +112,6 @@ class PoseGraph : public PoseGraphInterface {
// Gets the current trajectory clusters. // Gets the current trajectory clusters.
virtual std::vector<std::vector<int>> GetConnectedTrajectories() const = 0; virtual std::vector<std::vector<int>> GetConnectedTrajectories() const = 0;
// Returns the current optimized transform and submap itself for the given
// 'submap_id'. Returns 'nullptr' for the 'submap' member if the submap does
// not exist (anymore).
virtual SubmapData GetSubmapData(const SubmapId& submap_id) const = 0;
proto::PoseGraph ToProto(bool include_unfinished_submaps) const override; proto::PoseGraph ToProto(bool include_unfinished_submaps) const override;
// Returns the IMU data. // Returns the IMU data.

5
cartographer/mapping/pose_graph_interface.h
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@ -99,6 +99,11 @@ class PoseGraphInterface {
// Returns data for all submaps. // Returns data for all submaps.
virtual MapById<SubmapId, SubmapData> GetAllSubmapData() const = 0; virtual MapById<SubmapId, SubmapData> GetAllSubmapData() const = 0;
// Returns the current optimized transform and submap itself for the given
// 'submap_id'. Returns 'nullptr' for the 'submap' member if the submap does
// not exist (anymore).
virtual SubmapData GetSubmapData(const SubmapId& submap_id) const = 0;
// Returns the global poses for all submaps. // Returns the global poses for all submaps.
virtual MapById<SubmapId, SubmapPose> GetAllSubmapPoses() const = 0; virtual MapById<SubmapId, SubmapPose> GetAllSubmapPoses() const = 0;