58 lines
2.1 KiB
C++
58 lines
2.1 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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#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_OVERLAPPING_SUBMAPS_TRIMMER_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_2D_OVERLAPPING_SUBMAPS_TRIMMER_H_
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#include "cartographer/common/port.h"
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#include "cartographer/mapping/pose_graph_trimmer.h"
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namespace cartographer {
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namespace mapping {
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// Trims submaps that have less than 'min_covered_cells_count' cells not
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// overlapped by at least 'fresh_submaps_count` submaps.
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class OverlappingSubmapsTrimmer2D : public PoseGraphTrimmer {
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public:
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OverlappingSubmapsTrimmer2D(uint16 fresh_submaps_count,
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double min_covered_area,
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uint16 min_added_submaps_count)
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: fresh_submaps_count_(fresh_submaps_count),
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min_covered_area_(min_covered_area),
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min_added_submaps_count_(min_added_submaps_count) {}
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~OverlappingSubmapsTrimmer2D() override = default;
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void Trim(Trimmable* pose_graph) override;
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bool IsFinished() override { return finished_; }
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private:
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// Number of the most recent submaps to keep.
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const uint16 fresh_submaps_count_;
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// Minimum area of covered space to keep submap from trimming measured in m^2.
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const double min_covered_area_;
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// Number of added submaps before the trimmer is invoked.
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const uint16 min_added_submaps_count_;
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// Current finished submap count.
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uint16 current_submap_count_ = 0;
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bool finished_ = false;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_OVERLAPPING_SUBMAPS_TRIMMER_H_
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