55 lines
1.9 KiB
C++
55 lines
1.9 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
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#include "cartographer/mapping/internal/2d/pose_graph_2d.h"
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namespace cartographer {
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namespace mapping {
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void LocalSlamResult2D::AddToTrajectoryBuilder(
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TrajectoryBuilderInterface* const trajectory_builder) {
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trajectory_builder->AddLocalSlamResultData(
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absl::make_unique<LocalSlamResult2D>(*this));
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}
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void LocalSlamResult2D::AddToPoseGraph(int trajectory_id,
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PoseGraph* pose_graph) const {
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DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph));
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CHECK_GE(local_slam_result_data_.submaps().size(), 1);
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CHECK(local_slam_result_data_.submaps(0).has_submap_2d());
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std::vector<std::shared_ptr<const mapping::Submap2D>> submaps;
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for (const auto& submap_proto : local_slam_result_data_.submaps()) {
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auto submap_ptr = submap_controller_->UpdateSubmap(submap_proto);
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if (submap_ptr) {
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submaps.push_back(submap_ptr);
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} else {
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LOG(INFO) << "Ignoring submap";
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}
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}
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if (submaps.size() == 0) {
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LOG(INFO) << "Ignoring node";
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return;
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}
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static_cast<PoseGraph2D*>(pose_graph)
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->AddNode(std::make_shared<const mapping::TrajectoryNode::Data>(
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mapping::FromProto(local_slam_result_data_.node_data())),
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trajectory_id, submaps);
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}
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} // namespace mapping
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} // namespace cartographer
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