68 lines
2.5 KiB
C++
68 lines
2.5 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_3d/global_trajectory_builder.h"
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#include "cartographer/mapping_3d/local_trajectory_builder.h"
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namespace cartographer {
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namespace mapping_3d {
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GlobalTrajectoryBuilder::GlobalTrajectoryBuilder(
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const proto::LocalTrajectoryBuilderOptions& options,
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const int trajectory_id, SparsePoseGraph* sparse_pose_graph)
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: trajectory_id_(trajectory_id),
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sparse_pose_graph_(sparse_pose_graph),
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local_trajectory_builder_(CreateLocalTrajectoryBuilder(options)) {}
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GlobalTrajectoryBuilder::~GlobalTrajectoryBuilder() {}
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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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sparse_pose_graph_->AddImuData(trajectory_id_, time, linear_acceleration,
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angular_velocity);
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}
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void GlobalTrajectoryBuilder::AddRangefinderData(
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const common::Time time, const Eigen::Vector3f& origin,
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const sensor::PointCloud& ranges) {
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auto insertion_result =
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local_trajectory_builder_->AddRangefinderData(time, origin, ranges);
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if (insertion_result == nullptr) {
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return;
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}
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sparse_pose_graph_->AddScan(
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insertion_result->time, insertion_result->range_data_in_tracking,
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insertion_result->pose_observation, trajectory_id_,
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std::move(insertion_result->insertion_submaps));
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}
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void GlobalTrajectoryBuilder::AddOdometerData(const common::Time time,
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const transform::Rigid3d& pose) {
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local_trajectory_builder_->AddOdometerData(time, pose);
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}
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const GlobalTrajectoryBuilder::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_3d
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} // namespace cartographer
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