From 6b68522fccb4a2943a76ff6f43e9667c31888198 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Wed, 15 Nov 2017 12:57:50 +0100
Subject: [PATCH] Follow googlecartographer/cartographer#677. (#595)

[RFC=0001](https://github.com/googlecartographer/rfcs/blob/master/text/0001-renaming-sparse-pose-graph.md)
---
 .../cartographer_ros/map_builder_bridge.cc     | 18 ++++++++----------
 cartographer_ros/cartographer_ros/node.cc      |  1 -
 2 files changed, 8 insertions(+), 11 deletions(-)

diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
index 6f3432d..4546a5b 100644
--- a/cartographer_ros/cartographer_ros/map_builder_bridge.cc
+++ b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -106,7 +106,7 @@ void MapBuilderBridge::FinishTrajectory(const int trajectory_id) {
 
 void MapBuilderBridge::RunFinalOptimization() {
   LOG(INFO) << "Running final trajectory optimization...";
-  map_builder_.sparse_pose_graph()->RunFinalOptimization();
+  map_builder_.pose_graph()->RunFinalOptimization();
 }
 
 void MapBuilderBridge::SerializeState(const std::string& filename) {
@@ -151,7 +151,7 @@ cartographer_ros_msgs::SubmapList MapBuilderBridge::GetSubmapList() {
   submap_list.header.stamp = ::ros::Time::now();
   submap_list.header.frame_id = node_options_.map_frame;
   for (const auto& submap_id_data :
-       map_builder_.sparse_pose_graph()->GetAllSubmapData()) {
+       map_builder_.pose_graph()->GetAllSubmapData()) {
     cartographer_ros_msgs::SubmapEntry submap_entry;
     submap_entry.trajectory_id = submap_id_data.id.trajectory_id;
     submap_entry.submap_index = submap_id_data.id.submap_index;
@@ -184,8 +184,7 @@ MapBuilderBridge::GetTrajectoryStates() {
     CHECK_EQ(trajectory_options_.count(trajectory_id), 1);
     trajectory_states[trajectory_id] = {
         pose_estimate,
-        map_builder_.sparse_pose_graph()->GetLocalToGlobalTransform(
-            trajectory_id),
+        map_builder_.pose_graph()->GetLocalToGlobalTransform(trajectory_id),
         sensor_bridge.tf_bridge().LookupToTracking(
             pose_estimate.time,
             trajectory_options_[trajectory_id].published_frame),
@@ -196,7 +195,7 @@ MapBuilderBridge::GetTrajectoryStates() {
 
 visualization_msgs::MarkerArray MapBuilderBridge::GetTrajectoryNodeList() {
   visualization_msgs::MarkerArray trajectory_node_list;
-  const auto nodes = map_builder_.sparse_pose_graph()->GetTrajectoryNodes();
+  const auto nodes = map_builder_.pose_graph()->GetTrajectoryNodes();
   for (const int trajectory_id : nodes.trajectory_ids()) {
     visualization_msgs::Marker marker =
         CreateTrajectoryMarker(trajectory_id, node_options_.map_frame);
@@ -252,16 +251,15 @@ visualization_msgs::MarkerArray MapBuilderBridge::GetConstraintList() {
   residual_inter_marker.ns = "Inter residuals";
   residual_inter_marker.pose.position.z = 0.1;
 
-  const auto trajectory_nodes =
-      map_builder_.sparse_pose_graph()->GetTrajectoryNodes();
-  const auto submap_data = map_builder_.sparse_pose_graph()->GetAllSubmapData();
-  const auto constraints = map_builder_.sparse_pose_graph()->constraints();
+  const auto trajectory_nodes = map_builder_.pose_graph()->GetTrajectoryNodes();
+  const auto submap_data = map_builder_.pose_graph()->GetAllSubmapData();
+  const auto constraints = map_builder_.pose_graph()->constraints();
 
   for (const auto& constraint : constraints) {
     visualization_msgs::Marker *constraint_marker, *residual_marker;
     std_msgs::ColorRGBA color_constraint, color_residual;
     if (constraint.tag ==
-        cartographer::mapping::SparsePoseGraph::Constraint::INTRA_SUBMAP) {
+        cartographer::mapping::PoseGraph::Constraint::INTRA_SUBMAP) {
       constraint_marker = &constraint_intra_marker;
       residual_marker = &residual_intra_marker;
       // Color mapping for submaps of various trajectories - add trajectory id
diff --git a/cartographer_ros/cartographer_ros/node.cc b/cartographer_ros/cartographer_ros/node.cc
index 4c6877e..b68e16b 100644
--- a/cartographer_ros/cartographer_ros/node.cc
+++ b/cartographer_ros/cartographer_ros/node.cc
@@ -27,7 +27,6 @@
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/proto/submap_visualization.pb.h"
-#include "cartographer/mapping/sparse_pose_graph.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"