39 lines
1.2 KiB
C++
39 lines
1.2 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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#include "cartographer/pose_graph/pose_graph_controller.h"
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namespace cartographer {
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namespace pose_graph {
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void PoseGraphController::AddNode(const proto::Node& node) {
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absl::MutexLock locker(&mutex_);
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AddNodeToPoseGraphData(node, &data_);
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}
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void PoseGraphController::AddConstraint(const proto::Constraint& constraint) {
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absl::MutexLock locker(&mutex_);
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AddConstraintToPoseGraphData(constraint, &data_);
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}
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Optimizer::SolverStatus PoseGraphController::Optimize() {
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absl::MutexLock locker(&mutex_);
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return optimizer_->Solve(&data_);
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}
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} // namespace pose_graph
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} // namespace cartographer
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