78 lines
2.8 KiB
C++
78 lines
2.8 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_2d/global_trajectory_builder.h"
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namespace cartographer {
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namespace mapping_2d {
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GlobalTrajectoryBuilder::GlobalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions& options,
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SparsePoseGraph* sparse_pose_graph)
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: options_(options),
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sparse_pose_graph_(sparse_pose_graph),
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local_trajectory_builder_(options) {}
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GlobalTrajectoryBuilder::~GlobalTrajectoryBuilder() {}
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const Submaps* GlobalTrajectoryBuilder::submaps() const {
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return local_trajectory_builder_.submaps();
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}
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Submaps* GlobalTrajectoryBuilder::submaps() {
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return local_trajectory_builder_.submaps();
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}
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kalman_filter::PoseTracker* GlobalTrajectoryBuilder::pose_tracker() const {
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return local_trajectory_builder_.pose_tracker();
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}
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void GlobalTrajectoryBuilder::AddHorizontalLaserFan(
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const common::Time time, const sensor::LaserFan3D& laser_fan) {
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std::unique_ptr<LocalTrajectoryBuilder::InsertionResult> insertion_result =
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local_trajectory_builder_.AddHorizontalLaserFan(time, laser_fan);
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if (insertion_result != nullptr) {
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sparse_pose_graph_->AddScan(
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insertion_result->time, insertion_result->tracking_to_tracking_2d,
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insertion_result->laser_fan_in_tracking_2d,
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insertion_result->pose_estimate_2d,
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kalman_filter::Project2D(insertion_result->covariance_estimate),
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insertion_result->submaps, insertion_result->matching_submap,
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insertion_result->insertion_submaps);
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}
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}
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void GlobalTrajectoryBuilder::AddImuData(
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const common::Time time, const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& angular_velocity) {
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local_trajectory_builder_.AddImuData(time, linear_acceleration,
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angular_velocity);
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}
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void GlobalTrajectoryBuilder::AddOdometerPose(
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const common::Time time, const transform::Rigid3d& pose,
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const kalman_filter::PoseCovariance& covariance) {
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local_trajectory_builder_.AddOdometerPose(time, pose, covariance);
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}
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const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate&
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GlobalTrajectoryBuilder::pose_estimate() const {
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return local_trajectory_builder_.pose_estimate();
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}
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} // namespace mapping_2d
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} // namespace cartographer
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