master
parent
bd428df38f
commit
449a291411
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@ -25,8 +25,8 @@ namespace cartographer_ros {
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RosMapWritingPointsProcessor::RosMapWritingPointsProcessor(
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RosMapWritingPointsProcessor::RosMapWritingPointsProcessor(
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const double resolution,
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const double resolution,
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const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
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const ::cartographer::mapping::proto::
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range_data_inserter_options,
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ProbabilityGridRangeDataInserterOptions2D& range_data_inserter_options,
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::cartographer::io::FileWriterFactory file_writer_factory,
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::cartographer::io::FileWriterFactory file_writer_factory,
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const std::string& filestem,
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const std::string& filestem,
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::cartographer::io::PointsProcessor* const next)
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::cartographer::io::PointsProcessor* const next)
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@ -44,7 +44,7 @@ RosMapWritingPointsProcessor::FromDictionary(
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::cartographer::io::PointsProcessor* const next) {
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::cartographer::io::PointsProcessor* const next) {
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return ::cartographer::common::make_unique<RosMapWritingPointsProcessor>(
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return ::cartographer::common::make_unique<RosMapWritingPointsProcessor>(
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dictionary->GetDouble("resolution"),
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dictionary->GetDouble("resolution"),
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::cartographer::mapping::CreateRangeDataInserterOptions2D(
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::cartographer::mapping::CreateProbabilityGridRangeDataInserterOptions2D(
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dictionary->GetDictionary("range_data_inserter").get()),
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dictionary->GetDictionary("range_data_inserter").get()),
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file_writer_factory, dictionary->GetString("filestem"), next);
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file_writer_factory, dictionary->GetString("filestem"), next);
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}
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}
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@ -21,8 +21,8 @@
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/file_writer.h"
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#include "cartographer/io/points_processor.h"
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#include "cartographer/io/points_processor.h"
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#include "cartographer/mapping/2d/probability_grid.h"
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#include "cartographer/mapping/2d/probability_grid.h"
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#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h"
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#include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
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#include "cartographer/mapping/2d/range_data_inserter_2d.h"
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#include "cartographer/mapping/2d/proto/probability_grid_range_data_inserter_options_2d.pb.h"
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namespace cartographer_ros {
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namespace cartographer_ros {
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@ -34,7 +34,8 @@ class RosMapWritingPointsProcessor
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constexpr static const char* kConfigurationFileActionName = "write_ros_map";
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constexpr static const char* kConfigurationFileActionName = "write_ros_map";
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RosMapWritingPointsProcessor(
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RosMapWritingPointsProcessor(
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double resolution,
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double resolution,
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const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
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const ::cartographer::mapping::proto::
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ProbabilityGridRangeDataInserterOptions2D&
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range_data_inserter_options,
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range_data_inserter_options,
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::cartographer::io::FileWriterFactory file_writer_factory,
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::cartographer::io::FileWriterFactory file_writer_factory,
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const std::string& filestem, PointsProcessor* next);
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const std::string& filestem, PointsProcessor* next);
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@ -56,7 +57,8 @@ class RosMapWritingPointsProcessor
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const std::string filestem_;
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const std::string filestem_;
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PointsProcessor* const next_;
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PointsProcessor* const next_;
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::cartographer::io::FileWriterFactory file_writer_factory_;
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::cartographer::io::FileWriterFactory file_writer_factory_;
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::cartographer::mapping::RangeDataInserter2D range_data_inserter_;
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::cartographer::mapping::ProbabilityGridRangeDataInserter2D
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range_data_inserter_;
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::cartographer::mapping::ProbabilityGrid probability_grid_;
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::cartographer::mapping::ProbabilityGrid probability_grid_;
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};
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};
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