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ConstantData is now owned by the SPG. (#326)

master
Holger Rapp 2017-05-08 18:05:02 +02:00 committed by Wolfgang Hess
parent 1d256adeb5
commit 5294050f51
2 changed files with 1 additions and 3 deletions
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2
cartographer_ros/cartographer_ros/map_builder_bridge.cc
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@ -26,7 +26,7 @@ namespace cartographer_ros {
MapBuilderBridge::MapBuilderBridge(const NodeOptions& options, MapBuilderBridge::MapBuilderBridge(const NodeOptions& options,
tf2_ros::Buffer* const tf_buffer) tf2_ros::Buffer* const tf_buffer)
: options_(options), : options_(options),
map_builder_(options.map_builder_options, &constant_data_), map_builder_(options.map_builder_options),
tf_buffer_(tf_buffer) {} tf_buffer_(tf_buffer) {}
int MapBuilderBridge::AddTrajectory( int MapBuilderBridge::AddTrajectory(

2
cartographer_ros/cartographer_ros/map_builder_bridge.h
View File

@ -64,8 +64,6 @@ class MapBuilderBridge {
private: private:
const NodeOptions options_; const NodeOptions options_;
std::deque<cartographer::mapping::TrajectoryNode::ConstantData>
constant_data_;
cartographer::mapping::MapBuilder map_builder_; cartographer::mapping::MapBuilder map_builder_;
tf2_ros::Buffer* const tf_buffer_; tf2_ros::Buffer* const tf_buffer_;
std::unordered_map<int, std::unique_ptr<SensorBridge>> sensor_bridges_; std::unordered_map<int, std::unique_ptr<SensorBridge>> sensor_bridges_;