9646b31145
Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. ( #352 )
...
- Adds a function to query all SubmapData from the SparsePoseGraph.
- Changes MapBuilder::SubmapToProto to take a SubmapId.
- Remove num_submaps().
2017-06-21 14:21:23 +02:00
58bb70f53a
Change Submaps to only track the two active Submaps. ( #348 )
2017-06-20 18:21:42 +02:00
f242b5242a
Use shared_ptr<> for Submap objects. ( #347 )
...
Also remove `finished_submap` and `matching_submaps`. These are now
implicit.
Related to #283 .
PAIR=wohe
2017-06-19 17:23:48 +02:00
c8f02264a4
Removes GetSubmapId from SparsePoseGraph. ( #346 )
...
PAIR=wohe
2017-06-19 15:46:47 +02:00
b944b19159
Make use of Submap in 2D similar to 3D. ( #343 )
...
Use mapping_2d::Submap instead of mapping::Submap in 2D.
Use `finished()` instead of `finished_probability_grid()` in 2D.
PAIR=wohe
2017-06-19 14:43:10 +02:00
c1e1d03636
Support extrapolating a single submap transform. ( #338 )
2017-06-14 15:10:36 +02:00
79eeb7d77a
Improve code structure for extrapolation of poses. ( #337 )
...
This is in preparation of extrapolating single submap poses
as needed.
2017-06-14 12:49:17 +02:00
1a376c07b2
Change submap state handling in 3D. ( #327 )
...
This follows the new code in 2D. Also adds a check that
new constraints are only attempted for finished submaps.
2017-06-09 17:40:22 +02:00
f07f888dab
Remove the deque for constant node data. ( #326 )
...
This is needed in preparation of deleting nodes.
Related to #283 .
2017-06-09 16:53:49 +02:00
c90b887bfb
Adds API to add trimmers. ( #314 )
...
This is related to #283 . First to be implemented for
pure localization and 2D SLAM.
PAIR=SirVer
2017-06-06 17:07:30 +02:00
92f154f561
Also use fixed covariances in 3D SLAM. ( #308 )
...
This follows #307 .
2017-06-01 15:04:07 +02:00
515db3b4a9
Minor fixes. ( #303 )
...
Extract mapping_2d::CreateLocalTrajectoryBuilderOptions() into its own file.
Loop initialization fix in the trajectory_connectivity_test.
Thread safety fixes in sparse_pose_graph.
2017-05-22 14:55:05 +02:00
2d416589a7
Adds a NestedVectorsById<> class template. ( #300 )
2017-05-19 16:58:21 +02:00
0bba56428f
Remove flat indices. ( #299 )
...
This cleans up scan_index_to_node_id_, num_nodes_in_trajectory_,
scan_index. Related to #256 .
2017-05-19 14:01:59 +02:00
6c9e24d7c5
Keep 'trajectory_nodes_' per trajectory. ( #291 )
...
Fixes #256 .
PAIR=SirVer
2017-05-17 11:15:34 +02:00
5aa968748e
Sparse pose graph no longer uses Submaps* for trajectory identification. ( #290 )
...
Related to #256 .
PAIR=wohe
2017-05-16 14:24:49 +02:00
8612f5e6e5
ConstantData now has a trajectory_id. ( #289 )
...
Related to #256 .
PAIR=wohe
2017-05-16 11:42:18 +02:00
5effc4dac7
Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). ( #288 )
...
Related to #256 .
Also removes ComputeMapLimits with is moved to Cartographer ROS.
PAIR=SirVer
2017-05-16 10:51:08 +02:00
8392a7e62c
Change SubmapState.scan_indices -> node_ids ( #286 )
...
Related to #256 .
PAIR=wohe
2017-05-15 16:31:59 +02:00
f26e4366c9
Make SparsePoseGraph::constraints() public. ( #284 )
2017-05-15 16:06:20 +02:00
c084624958
Turn submap state into a per trajectory list. ( #281 )
...
Related to #256 .
2017-05-15 12:12:30 +02:00
fde9272533
Adds mapping:NodeId for Constraint. ( #279 )
...
Also extracted mapping::SubmapId into an id.h file.
Related to #256 .
PAIR=SirVer
2017-05-11 17:17:12 +02:00
32583e0c5d
Use trajectory IDs for global samplers. ( #278 )
...
Related to #256 .
PAIR=SirVer
2017-05-11 15:08:27 +02:00
1a9b18db69
Change num_submaps_in_trajectory to using trajectory IDs. ( #277 )
...
Related to #256 .
2017-05-11 14:32:55 +02:00
e6a6bab351
Make TrajectoryConnectivity use trajectory IDs. ( #275 )
...
Related to #256 .
2017-05-11 13:36:12 +02:00
926b0320cb
Use per-trajectory SubmapData in OptimizationProblem. ( #272 )
2017-05-10 16:28:58 +02:00
94e8eec41d
Use (trajectory_id, submap_index) as submap IDs in places. ( #271 )
...
Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256 .
PAIR=wohe
2017-05-10 12:26:58 +02:00
45de59b116
Move trajectory id mapping into the SparsePoseGraph. ( #270 )
2017-05-10 08:23:57 +02:00
524b613f2c
`submap_pose`s are now owned by the OptimizationProblem. ( #269 )
2017-05-09 17:24:48 +02:00
20e9cde53d
Fix race condition in extrapolation of submap poses. ( #268 )
...
PAIR=wohe
2017-05-09 15:21:30 +02:00
772d02c00e
Move ConstantData into the SPG ( #263 )
2017-05-08 17:10:07 +02:00
e2de27cded
Remove dead code. ( #262 )
2017-05-08 11:06:33 +02:00
af22dc6fe1
Simplify submap versions. ( #235 )
...
We now only keep track of the number of inserted range data.
2017-04-21 14:12:08 +02:00
92d360a8f2
Multi-trajectory SparsePoseGraph::ToProto. ( #227 )
...
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
2017-04-19 17:01:03 +02:00
4fa190d316
Rename LaserFan to RangeData. ( #224 )
...
LaserFan is misleading since range data can come from
various sensor types.
2017-03-23 14:56:18 +01:00
1477a81bfa
Tiny sparse pose graph cleanup. ( #169 )
2016-12-20 16:43:58 +01:00
51a0ec06a1
Add support for multi-trajectory to 3D SLAM. ( #146 )
2016-11-28 12:52:45 +01:00
e703b1cea3
Fix multi-trajectory loop closure attempts. ( #131 )
...
Before, old scans with new submaps were always matched as if they
belong to connected trajectories.
2016-11-18 10:36:30 +01:00
1de387cba9
Improvement of 2D/3D consistency and cleanup. ( #122 )
2016-11-11 14:33:06 +01:00
c80c2eaa40
Unify 2D/3D constraints. ( #119 )
...
This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
2016-11-08 14:47:03 +01:00
098349f67e
Rename LaserFan3D to LaserFan. ( #64 )
2016-10-14 12:06:54 +02:00
6e56578394
Rename to local/global map frame. ( #2 )
...
Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
2016-08-10 12:09:52 +02:00
269c28cb0c
Moves the contents of the cartographer subdirectory up one level.
2016-08-03 12:48:29 +02:00
Holger Rapp
Wolfgang Hess
Jihoon Lee
Mac Mason
Wolfgang Hess
Damon Kohler