99 lines
3.8 KiB
C++
99 lines
3.8 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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#ifndef CARTOGRAPHER_MAPPING_TRAJECTORY_CONNECTIVITY_H_
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#define CARTOGRAPHER_MAPPING_TRAJECTORY_CONNECTIVITY_H_
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#include <map>
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#include <unordered_map>
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#include "cartographer/common/mutex.h"
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#include "cartographer/mapping/proto/trajectory_connectivity.pb.h"
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#include "cartographer/mapping/submaps.h"
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namespace cartographer {
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namespace mapping {
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// A class that tracks the connectivity structure between trajectories.
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//
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// Connectivity includes both the count ("How many times have I _directly_
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// connected trajectories i and j?") and the transitive connectivity.
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//
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// This class is thread-safe.
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class TrajectoryConnectivity {
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public:
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TrajectoryConnectivity();
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TrajectoryConnectivity(const TrajectoryConnectivity&) = delete;
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TrajectoryConnectivity& operator=(const TrajectoryConnectivity&) = delete;
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// Add a trajectory which is initially connected to nothing.
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void Add(const Submaps* trajectory) EXCLUDES(lock_);
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// Connect two trajectories. If either trajectory is untracked, it will be
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// tracked. This function is invariant to the order of its arguments. Repeated
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// calls to Connect increment the connectivity count.
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void Connect(const Submaps* trajectory_a, const Submaps* trajectory_b)
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EXCLUDES(lock_);
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// Determines if two trajectories have been (transitively) connected. If
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// either trajectory is not being tracked, returns false. This function is
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// invariant to the order of its arguments.
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bool TransitivelyConnected(const Submaps* trajectory_a,
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const Submaps* trajectory_b) EXCLUDES(lock_);
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// Return the number of _direct_ connections between trajectory_a and
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// trajectory_b. If either trajectory is not being tracked, returns 0. This
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// function is invariant to the order of its arguments.
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int ConnectionCount(const Submaps* trajectory_a, const Submaps* trajectory_b)
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EXCLUDES(lock_);
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// The trajectories, grouped by connectivity.
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std::vector<std::vector<const Submaps*>> ConnectedComponents()
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EXCLUDES(lock_);
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private:
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// Find the representative and compresses the path to it.
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const Submaps* FindSet(const Submaps* trajectory) REQUIRES(lock_);
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void Union(const Submaps* trajectory_a, const Submaps* trajectory_b)
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REQUIRES(lock_);
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common::Mutex lock_;
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// Tracks transitive connectivity using a disjoint set forest, i.e. each
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// entry points towards the representative for the given trajectory.
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std::map<const Submaps*, const Submaps*> forest_ GUARDED_BY(lock_);
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// Tracks the number of direct connections between a pair of trajectories.
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std::map<std::pair<const Submaps*, const Submaps*>, int> connection_map_
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GUARDED_BY(lock_);
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};
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// Returns a proto encoding connected components according to
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// 'trajectory_indices'.
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proto::TrajectoryConnectivity ToProto(
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std::vector<std::vector<const Submaps*>> connected_components,
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std::unordered_map<const mapping::Submaps*, int> trajectory_indices);
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// Returns the connected component containing 'trajectory_index'.
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proto::TrajectoryConnectivity::ConnectedComponent FindConnectedComponent(
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const cartographer::mapping::proto::TrajectoryConnectivity&
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trajectory_connectivity,
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int trajectory_id);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_TRAJECTORY_CONNECTIVITY_H_
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