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Unify to AddLaserFan for both 2D and 3D. (#129)

master
Wolfgang Hess 2016-10-19 15:25:19 +02:00 committed by GitHub
parent ccbf9ef1be
commit 0289ece55d
1 changed files with 2 additions and 8 deletions
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10
cartographer_ros/cartographer_ros/node_main.cc
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@ -521,14 +521,8 @@ void Node::HandleSensorData(const string& sensor_id,
return; return;
case carto::sensor::Data::Type::kLaserFan: case carto::sensor::Data::Type::kLaserFan:
if (options_.map_builder_options.use_trajectory_builder_2d()) { trajectory_builder->AddLaserFan(sensor_data->time,
trajectory_builder->AddHorizontalLaserFan(sensor_data->time, sensor_data->laser_fan);
sensor_data->laser_fan);
} else {
CHECK(options_.map_builder_options.use_trajectory_builder_3d());
trajectory_builder->AddLaserFan3D(sensor_data->time,
sensor_data->laser_fan);
}
return; return;
case carto::sensor::Data::Type::kOdometry: case carto::sensor::Data::Type::kOdometry: