42 lines
1.4 KiB
C++
42 lines
1.4 KiB
C++
/*
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* Copyright 2016 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/pose_graph_trimmer.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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PureLocalizationTrimmer::PureLocalizationTrimmer(const int trajectory_id,
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const int num_submaps_to_keep)
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: trajectory_id_(trajectory_id), num_submaps_to_keep_(num_submaps_to_keep) {
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CHECK_GE(num_submaps_to_keep, 3);
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}
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void PureLocalizationTrimmer::Trim(Trimmable* const pose_graph) {
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const int total_num_submaps = pose_graph->num_submaps(trajectory_id_);
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while (total_num_submaps > num_submaps_trimmed_ + num_submaps_to_keep_) {
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const int submap_index_to_trim_next = num_submaps_trimmed_;
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pose_graph->MarkSubmapAsTrimmed(
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SubmapId{trajectory_id_, submap_index_to_trim_next});
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++num_submaps_trimmed_;
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}
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}
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} // namespace mapping
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} // namespace cartographer
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