d419fe8fd7
More const PoseGraph interface ( #1156 )
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Making getters and non-modifying methods in PoseGraph* const.
Before most getters where marked non-const because of the need to acquire the mutex for thread safety. This forces all code using the PoseGraph to pass it around as a non-const object even if the consumer is not altering the object.
By making the mutexes mutable we can make getters and methods that do not change the PoseGraph const and thus enable consumer APIs to express how they are going to use the PoseGraph as well.
fixes #1021
2018-05-17 09:30:40 +02:00
a0ec8046bd
Allow easier access to CeresPose's data_ ( #1149 )
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Introduce a FromPose function which transforms a Ridig3d pose into the
CeresPose's Data format.
2018-05-15 22:32:03 +02:00
d2453bce50
Update README.rst ( #1144 )
2018-05-15 09:38:44 +02:00
ee8e2fa4d6
Introduces a lockless queue for multiple producers and a single consumer ( #1152 )
2018-05-11 21:14:18 +02:00
ce67d684ba
Introduce a GlobalSlamResultCallback ( #1143 )
2018-05-10 11:25:00 +02:00
c2f54b8df2
Organize all protos in mapping in a single folder. ( #1147 )
2018-05-09 11:22:07 +02:00
697d6091cd
Test ThreadPool more ( #1136 )
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These tests previously helped to reproduce Mutex issue #1124 .
2018-05-03 21:50:50 +02:00
3ca6506bc7
Remove old ThreadPool::Schedule ( #1139 )
2018-05-03 20:58:51 +02:00
21c428b1bf
installing test library headers, so they are available for cartographer_ros ( #1140 )
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Installing the header files of test_helpers, fake- and mock-classes.
This will fix the build failure of cartographer_ros.
2018-05-02 16:39:55 +02:00
e080df5ea3
Register MapBuilderServer metrics ( #1133 )
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I am not adding these registration calls to `cartographer/metrics/register.cc` because they are specific to cloud based mapping.
2018-05-01 17:18:34 +02:00
913b1b5856
Added cartographer test library to CMake project ( #1129 )
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Fake, mock and test helpers are now compiled into a test library.
This should resolve #1128 . The bazel build file was updated in #1101 .
2018-04-30 18:02:54 +02:00
13d9754155
fixed that tests not getting linked against prometheus-cc ( #1131 )
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Fixed typo in the CMakeLists file: tests were not linked against prometheus-cc
2018-04-30 16:57:08 +02:00
ff18bae528
Transform submap cells to global frame correctly. ( #1130 )
2018-04-30 12:12:48 +02:00
a3b746ff67
Use Task in ConstraintBuilder3D ( #1119 )
2018-04-27 22:14:19 +02:00
a32cfd247b
Pessimist ~Locker ( #1125 )
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FIXES=#1124
2018-04-27 20:41:13 +02:00
fe7aaf4d94
Added a fake file writer (writes to string instead of file) ( #1101 )
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Added fake filer writer which writes the output to a string instead of a file.
This will help writing tests for classes that use the file writer interface to write data.
2018-04-27 13:45:54 +02:00
c46fe073b4
Use Task in ConstraintBuilder2D ( #1118 )
2018-04-26 12:33:36 +02:00
666095cb41
Introduce metric to measure the length of the SLAM queue ( #1117 )
2018-04-25 22:09:56 +02:00
5356bdf9a8
Rename metrics since slashes are not allowed in Prometheus ( #1115 )
2018-04-25 17:34:30 +02:00
41f17e57cd
Introduce Grid and RangeDataInserter ( #1108 )
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- Introduce `RangeDataInserterInterface` as common interface for all range data inserters
- Introduce a minimal `GridInterface` as a base for a common interface for 2D and 3D grids
- Rename `RangeDataInserter2D` to `ProbabilityGridRangeDataInserter2D`
- Move grid generation logic from `Submap2D` to `ActiveSubmaps2D`
- Update proto and configuration structure to mirror the code structure - backwards compatibility is maintained
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-25 16:51:30 +02:00
91fda93757
Schedule Task in ThreadPool ( #1113 )
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This introduces scheduling of tasks with dependencies to ThreadPool.
Contrary to work items, tasks are only queued for execution after all
their dependencies have completed.
2018-04-25 16:12:30 +02:00
89ac5cbabf
Test GlobalSlam3D ( #1114 )
2018-04-25 15:00:13 +02:00
0118531659
correct bazel define ( #1112 )
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This is required by map_builder_server_main.cc
2018-04-25 13:56:34 +02:00
3d2ca564b6
Fix some Clang warnings. ( #1109 )
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task.cc: -Wparentheses
task_test.cc: -Winconsistent-missing-override
2018-04-25 12:22:11 +02:00
d9ada58710
Removed check for existence of first submap of first trajectory in pose graph optimization ( #1099 )
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Removed check for existence of first submap of first trajectory.
This check is equivalent to the original implementation which got changed in [#584 ](https://github.com/googlecartographer/cartographer/pull/584/files )
2018-04-24 16:32:31 +02:00
f51e4f4f05
Introduce Task ( #1066 )
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This introduces the new class common::Task. A Task can have dependencies to other tasks, notify ThreadPoolInterface when all its dependencies are fulfilled, and can be executed in the background.
2018-04-24 15:57:44 +02:00
3dd37da51b
Move constraint_builders together. ( #1103 )
2018-04-23 13:49:25 +02:00
3b5830745e
Test ConstraintBuilder2D/3D ( #1100 )
2018-04-23 12:52:20 +02:00
d29153a744
Replace ProbabilityGrid in Submap2D by Grid2D ( #1097 )
2018-04-20 22:58:46 +02:00
e2623991da
Return only optimized & finished submaps for trimmer. ( #1104 )
2018-04-20 22:19:16 +02:00
4aa2af23de
Move files related to optimization to optimization/. ( #1102 )
2018-04-20 20:52:17 +02:00
eebced5e16
Clean-up colliding 'SubmapData' names. ( #1096 )
2018-04-20 18:15:37 +02:00
643bc825e9
ThreadPoolForTesting ( #1098 )
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Necessary to test ConstraintBuilder.
2018-04-20 13:12:52 +02:00
8816d5710c
Invoke trimmer only when there are enough added submaps. ( #1095 )
2018-04-20 09:05:05 +02:00
29c3e056ed
Next Open house and switch CET to CEST. ( #1092 )
2018-04-20 00:30:12 +02:00
7f67f074a1
Limit `bazel test` parallelism more precisely ( #1094 )
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Since it is only the tests in cartographer/cloud that cannot run
concurrently with each other, use `tags = ["exclusive"]` to say that
they should not be run at the same time as other tests.
This works locally, not just in CI, and should speed up the CI job by
2-3 minutes.
2018-04-19 18:51:20 +02:00
ab7402ffbb
Use references for constraints & nodes in TrimmingHandle. ( #1091 )
2018-04-19 17:09:16 +02:00
20c80068b2
Base ConstraintBuilder2D on correspondence cost function ( #1088 )
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- Base `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D` on correspondence cost function instead of probabilities
- No changes in the options of `ConstraintBuilder2D` and `FastCorrelativeScanMatcher2D`
- Add properties `min/max_correspondence_cost` to `Grid2D` and `proto::Grid2D`
- Provide backwards compatibility for `proto::Grid2D`
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-19 11:59:28 +02:00
f4937b5cc6
Base ceres scan matcher on correspondence cost function ( #1085 )
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- Base ceres scan matcher on correspondence cost function instead of probabilities
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-19 10:24:16 +02:00
9b3606b7c0
Fix glog warning ( #1082 )
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by updating to a version that properly enables __attribute__. This is
the last warning in the Bazel build.
2018-04-18 21:04:11 +02:00
337e594662
Introduce option to enable SSL encryption for LocalTrajectoryUploader ( #1084 )
2018-04-18 16:47:03 +02:00
3383643627
Add configuration for Bazel CI ( #1083 )
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This builds and tests on Ubuntu 16.
2018-04-18 15:43:39 +02:00
03d56871c1
Correspondence cost based probability grid ( #1081 )
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- Store probabilities as correspondence costs
- Add conversion functions for correspondence cost values
- Step towards [RFC 0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-04-18 14:46:38 +02:00
214606457c
Switch to batch uploading for cloud based mapping and add retries ( #1070 )
2018-04-18 14:02:43 +02:00
23f6de46b0
Use area instead of cells count for overlapping trimmer options. ( #1080 )
2018-04-17 18:22:38 +02:00
26e8ce63ba
Add async_grpc dependency to cartographer_grpc ( #1079 )
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The map_builder_server target requires async_grpc.
2018-04-17 17:25:18 +02:00
4278dbb7ea
Speed up slow tests ( #1077 )
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Same checks, half the time.
2018-04-17 15:41:09 +02:00
ed0a8846f1
Allow execution of Submap2D::ToResponseProto without a grid ( #1078 )
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- related to https://github.com/googlecartographer/cartographer_ros/issues/819
2018-04-17 14:27:09 +02:00
74970be757
Add overlapping trimmer params to TrajectoryBuilderOptions. ( #1076 )
2018-04-17 13:00:04 +02:00
e215c170e7
Remove redundant function declaration. ( #1075 )
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Makes clang happy again.
2018-04-17 10:22:00 +02:00
Sebastian Klose
Robert Milijaš
Christoph Schütte
gaschler
Martin Schwörer
Alexander Belyaev
Kevin Daun
Michael Grupp
Holger Rapp
Rodrigo Queiro
Julius Kammerl