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Follow up on https://github.com/googlecartographer/cartographer/pull/1108 (#838)

master
Kevin Daun 2018-04-26 10:20:38 +02:00 committed by Wally B. Feed
parent bd428df38f
commit 449a291411
2 changed files with 10 additions and 8 deletions
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6
cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
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@ -25,8 +25,8 @@ namespace cartographer_ros {
RosMapWritingPointsProcessor::RosMapWritingPointsProcessor( RosMapWritingPointsProcessor::RosMapWritingPointsProcessor(
const double resolution, const double resolution,
const ::cartographer::mapping::proto::RangeDataInserterOptions2D& const ::cartographer::mapping::proto::
range_data_inserter_options, ProbabilityGridRangeDataInserterOptions2D& range_data_inserter_options,
::cartographer::io::FileWriterFactory file_writer_factory, ::cartographer::io::FileWriterFactory file_writer_factory,
const std::string& filestem, const std::string& filestem,
::cartographer::io::PointsProcessor* const next) ::cartographer::io::PointsProcessor* const next)
@ -44,7 +44,7 @@ RosMapWritingPointsProcessor::FromDictionary(
::cartographer::io::PointsProcessor* const next) { ::cartographer::io::PointsProcessor* const next) {
return ::cartographer::common::make_unique<RosMapWritingPointsProcessor>( return ::cartographer::common::make_unique<RosMapWritingPointsProcessor>(
dictionary->GetDouble("resolution"), dictionary->GetDouble("resolution"),
::cartographer::mapping::CreateRangeDataInserterOptions2D( ::cartographer::mapping::CreateProbabilityGridRangeDataInserterOptions2D(
dictionary->GetDictionary("range_data_inserter").get()), dictionary->GetDictionary("range_data_inserter").get()),
file_writer_factory, dictionary->GetString("filestem"), next); file_writer_factory, dictionary->GetString("filestem"), next);
} }

12
cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
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@ -21,8 +21,8 @@
#include "cartographer/io/file_writer.h" #include "cartographer/io/file_writer.h"
#include "cartographer/io/points_processor.h" #include "cartographer/io/points_processor.h"
#include "cartographer/mapping/2d/probability_grid.h" #include "cartographer/mapping/2d/probability_grid.h"
#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h" #include "cartographer/mapping/2d/probability_grid_range_data_inserter_2d.h"
#include "cartographer/mapping/2d/range_data_inserter_2d.h" #include "cartographer/mapping/2d/proto/probability_grid_range_data_inserter_options_2d.pb.h"
namespace cartographer_ros { namespace cartographer_ros {
@ -34,8 +34,9 @@ class RosMapWritingPointsProcessor
constexpr static const char* kConfigurationFileActionName = "write_ros_map"; constexpr static const char* kConfigurationFileActionName = "write_ros_map";
RosMapWritingPointsProcessor( RosMapWritingPointsProcessor(
double resolution, double resolution,
const ::cartographer::mapping::proto::RangeDataInserterOptions2D& const ::cartographer::mapping::proto::
range_data_inserter_options, ProbabilityGridRangeDataInserterOptions2D&
range_data_inserter_options,
::cartographer::io::FileWriterFactory file_writer_factory, ::cartographer::io::FileWriterFactory file_writer_factory,
const std::string& filestem, PointsProcessor* next); const std::string& filestem, PointsProcessor* next);
RosMapWritingPointsProcessor(const RosMapWritingPointsProcessor&) = delete; RosMapWritingPointsProcessor(const RosMapWritingPointsProcessor&) = delete;
@ -56,7 +57,8 @@ class RosMapWritingPointsProcessor
const std::string filestem_; const std::string filestem_;
PointsProcessor* const next_; PointsProcessor* const next_;
::cartographer::io::FileWriterFactory file_writer_factory_; ::cartographer::io::FileWriterFactory file_writer_factory_;
::cartographer::mapping::RangeDataInserter2D range_data_inserter_; ::cartographer::mapping::ProbabilityGridRangeDataInserter2D
range_data_inserter_;
::cartographer::mapping::ProbabilityGrid probability_grid_; ::cartographer::mapping::ProbabilityGrid probability_grid_;
}; };