69 lines
2.2 KiB
C++
69 lines
2.2 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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#ifndef CARTOGRAPHER_MAPPING_POSE_GRAPH_TRIMMER_H_
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#define CARTOGRAPHER_MAPPING_POSE_GRAPH_TRIMMER_H_
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#include "cartographer/mapping/id.h"
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namespace cartographer {
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namespace mapping {
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// Implemented by the pose graph to provide thread-safe access to functions for
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// trimming the graph.
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class Trimmable {
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public:
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virtual ~Trimmable() {}
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// TODO(whess): This is all the functionality necessary for pure localization.
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// To be expanded as needed for lifelong mapping.
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virtual int num_submaps(int trajectory_id) const = 0;
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// Marks 'submap_id' and corresponding intra-submap nodes as trimmed. They
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// will no longer take part in scan matching, loop closure, visualization.
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// Submaps and nodes are only marked, the numbering remains unchanged.
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virtual void MarkSubmapAsTrimmed(const SubmapId& submap_id) = 0;
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};
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// An interface to implement algorithms that choose how to trim the pose graph.
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class PoseGraphTrimmer {
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public:
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virtual ~PoseGraphTrimmer() {}
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// Called once after each pose graph optimization.
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virtual void Trim(Trimmable* pose_graph) = 0;
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};
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// Keeps the last 'num_submaps_to_keep' of the trajectory with 'trajectory_id'
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// to implement localization without mapping.
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class PureLocalizationTrimmer : public PoseGraphTrimmer {
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public:
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PureLocalizationTrimmer(int trajectory_id, int num_submaps_to_keep);
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~PureLocalizationTrimmer() override {}
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void Trim(Trimmable* pose_graph) override;
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private:
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const int trajectory_id_;
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const int num_submaps_to_keep_;
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int num_submaps_trimmed_ = 0;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_POSE_GRAPH_TRIMMER_H_
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