From 0289ece55d7448c466a748412758d6ae9ba736f1 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Wed, 19 Oct 2016 15:25:19 +0200
Subject: [PATCH] Unify to AddLaserFan for both 2D and 3D. (#129)

---
 cartographer_ros/cartographer_ros/node_main.cc | 10 ++--------
 1 file changed, 2 insertions(+), 8 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/node_main.cc b/cartographer_ros/cartographer_ros/node_main.cc
index 06b040b..2b90298 100644
--- a/cartographer_ros/cartographer_ros/node_main.cc
+++ b/cartographer_ros/cartographer_ros/node_main.cc
@@ -521,14 +521,8 @@ void Node::HandleSensorData(const string& sensor_id,
       return;
 
     case carto::sensor::Data::Type::kLaserFan:
-      if (options_.map_builder_options.use_trajectory_builder_2d()) {
-        trajectory_builder->AddHorizontalLaserFan(sensor_data->time,
-                                                  sensor_data->laser_fan);
-      } else {
-        CHECK(options_.map_builder_options.use_trajectory_builder_3d());
-        trajectory_builder->AddLaserFan3D(sensor_data->time,
-                                          sensor_data->laser_fan);
-      }
+      trajectory_builder->AddLaserFan(sensor_data->time,
+                                      sensor_data->laser_fan);
       return;
 
     case carto::sensor::Data::Type::kOdometry: