e48e21849a
Acquire mutex before copying landmark poses. ( #1007 )
2018-03-19 16:16:46 +01:00
4cc758e830
Serialize landmark observations. ( #1006 )
2018-03-19 15:12:47 +01:00
7a7908ebb9
Test PureLocalizationTrimmer with actual pose graph ( #1004 )
2018-03-19 11:43:19 +01:00
b23ec8ce4e
Fix PureLocalizationTrimmer ( #1002 )
...
Remove the wrong assumption that submap index is sequential from 0.
2018-03-19 10:35:35 +01:00
ee530d2423
Purge some additional jets ( #1000 )
2018-03-16 19:12:56 +01:00
1f9c78a82b
Remove float-to-jet casts where possible. ( #998 )
2018-03-16 14:53:10 +01:00
6102f374b1
Build Ceres with C++11. ( #999 )
2018-03-16 13:03:57 +01:00
06a9d3544d
Interpolate trajectory node to compute starting point for landmarks. ( #997 )
...
[Landmarks RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0011-landmarks.md )
2018-03-16 12:01:55 +01:00
37a68cd7f4
LocalTrajectoryBuilder uses RangeDataCollator ( #996 )
...
Local SLAM accepts and unwarps time-overlapping range data from multiple sensors.
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md )
FIXES=#910
2018-03-15 16:34:51 +01:00
55065a2108
Mockable optimization ( #994 )
2018-03-15 14:13:59 +01:00
bd7d7202bf
Filter RangeMeasurement ( #995 )
...
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md )
2018-03-15 12:31:08 +01:00
067d01a364
Test PoseGraph3D ( #990 )
2018-03-15 11:44:47 +01:00
ed47f9d8f8
OptimizationProblemInterface ( #991 )
...
Derive optimization problems from a new OptimizationProblemInterface.
Move fix_z into OptimizationProblemOptions.
Move trivial getters to header files.
This will allow mocking the optimization problems.
2018-03-15 11:12:26 +01:00
e6c4ee4b8b
Move interpolation of poses to 'cost_helpers'. ( #992 )
2018-03-15 10:33:02 +01:00
1e4d558ac4
Add landmarks to the state and deserialize them. ( #988 )
2018-03-14 21:36:15 +01:00
36df3eec19
Instrument metrics in GlobalTrajectoryBuilder. ( #945 )
...
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md )
2018-03-14 14:51:40 +01:00
0190e7cd99
Clean-up dependencies of map_builder and put getters to the header. ( #989 )
2018-03-14 13:33:44 +01:00
c060a15670
Remove dead code: fast_global_localizer. ( #987 )
2018-03-13 16:23:27 +01:00
4d52c46629
Clean-up dependencies and move real_time_correlative_scan_matcher. ( #986 )
...
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2018-03-13 15:18:05 +01:00
c09b643d8d
Synchronize correctly in FinishTrajectory(). ( #980 )
...
PoseGraph{2D,3D}::FinishTrajectory() calls AddWorkItem() which
requires the mutex to be held. This adds code to do this.
2018-03-13 14:10:51 +01:00
525f7afe7e
Move sensor-related stuff to internal/. ( #985 )
...
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2018-03-13 13:36:45 +01:00
1187480fe6
Introduce RangeDataCollator ( #975 )
...
Synchronizes and merge-sorts TimedPointCloudData by per-point timestamps from
multiple sensors.
[RFC=0017](https://github.com/googlecartographer/rfcs/blob/master/text/0017-synchronize-points.md )
2018-03-13 11:08:01 +01:00
976736051c
Move scan matchers to internal/. ( #983 )
2018-03-13 10:21:27 +01:00
70c7660348
Move even more stuff to internal/. ( #982 )
...
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2018-03-12 17:46:31 +01:00
bfbf29dcd6
Move mapping/pose_graph/ to internal/. ( #979 )
...
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2018-03-12 14:00:18 +01:00
418e0964bf
Move pose_graph_*d related files to internal/. ( #976 )
...
[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
2018-03-12 12:42:52 +01:00
091a4f852d
Update descriptions in pose_graph.h ( #977 )
...
Remove "frozen", since deserialized trajectories can be unfrozen since #891 .
2018-03-10 23:50:31 +01:00
def4048e95
Make the cloud_uplink address empty by default. ( #974 )
2018-03-09 16:57:58 +01:00
2fe1867221
Fix writing the pbstream via gRPC. ( #973 )
2018-03-09 16:26:03 +01:00
daa35d3bc8
Move in_memory_proto_stream.* to internal. ( #969 )
...
Internal Headers RFC
2018-03-09 15:24:07 +01:00
e1109356cf
Require Ceres built against SuiteSparse ( #972 )
...
Fixes #971 .
2018-03-09 10:24:19 +01:00
bb4ba8b319
Split local_slam_result_data.h into base and 2d/3d parts. ( #967 )
2018-03-08 15:17:31 +01:00
b29986f297
Remove the pointers to the derived PoseGraph*D classes from map_builder. ( #966 )
2018-03-08 14:49:41 +01:00
20a980aade
Remove 'pose_graph_*d.h' from local_slam_result_data.h. ( #965 )
2018-03-08 13:09:43 +01:00
256b5a6ff0
Remove '2d/probability_grid.h' include from 'submaps.h'. ( #964 )
2018-03-08 11:56:42 +01:00
82a491181d
Add IsTrajectoryFrozen to PoseGraph ( #962 )
...
Adds IsTrajectoryFrozen to the PoseGraph interface
2018-03-08 11:18:08 +01:00
ec078c7e1c
Pin gRPC version ( #963 )
...
Fixes build failure on trusty
2018-03-08 10:18:28 +01:00
7e05daa8ca
Remove dotfiles from build files in CMakeLists.txt ( #897 )
...
Avoids including unwanted files that could appear in a developer
workspace (e.g. auto-generated files in "dot" folders).
2018-03-06 18:39:46 +01:00
f34df22a24
Update header guards. ( #959 )
2018-03-05 14:55:51 +01:00
cf180a0b19
Move mapping:: related mocks to cartographer/internal/testing. ( #960 )
2018-03-05 14:09:04 +01:00
f76d8a8a0d
Move cartographer_grpc/ to cartographer/cloud. ( #958 )
...
[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md )
2018-03-05 12:41:38 +01:00
93c450bf6c
Change R"PROTO raw strings to just R". ( #957 )
...
That is actually why Wally was pushing these changes to everyone: clang-format is ignoring these raw strings and does some weird formatting.
2018-03-05 11:47:00 +01:00
61552314a0
Rename cartographer_grpc:: namespace as cartographer: ☁️ :. ( #955 )
...
[Code structure RFC](e11bca586f/text/0000-code-structure.md☁️ :`.
`cartographer_grpc::sensor::` -> `cartographer:☁️ :`.
2018-03-02 23:21:28 +01:00
b79e5b8e29
Move framework/, sensor/, testing/ to internal/. ( #954 )
...
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
Added `map_builder_server_interface.h/cc` to hide `framework/*.h`.
2018-03-02 14:16:49 +01:00
b51bf3dd6d
Fix warning about incorrect workspace name ( #951 )
...
The workspace name for prometheus-cpp has been updated to the correct
canonical name.
2018-03-02 13:32:58 +01:00
d05e5d99f4
Hide 'handlers' to internal/. ( #952 )
...
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
`LocalTrajectoryUploader` implementation was hidden in the anonymous namespace in `local_trajectory_uploader.cc` to remove dependency from handlers/ in the header. The follow-up PR will include splitting the files into `local_trajectory_uploader_interface.h` & `internal/local_trajectory_uploader.*`
2018-03-02 11:38:35 +01:00
a2219cb2fc
Correct comment ( #948 )
2018-03-02 10:25:23 +01:00
97c039bab2
Move pose_graph_stub/trajectory_builder_stub to internal. ( #950 )
...
[Internal hdrs RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md )
Also moved /mapping to /client. Namespace changes will follow.
2018-03-01 18:30:30 +01:00
0156e6b8ce
Instrument metrics in local trajectory builders. ( #946 )
...
RFC=[0014](https://github.com/googlecartographer/rfcs/blob/master/text/0014-monitoring.md )
2018-02-28 16:32:40 +01:00
df1ee4bb29
Fix metric label. ( #944 )
...
This makes metrics_test in debug mode happy.
2018-02-28 14:46:26 +01:00
Alexander Belyaev
gaschler
Juraj Oršulić
Wolfgang Hess
Kevin Daun
Michael Grupp
Rodrigo Queiro