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Small namespace cleanup.

master
Damon Kohler 2016-08-25 11:53:57 +02:00
parent 008b5ef377
commit a8759d314e
1 changed files with 10 additions and 10 deletions
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20
cartographer_ros/src/cartographer_node_main.cc
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@ -286,19 +286,19 @@ Rigid3d Node::LookupToTrackingTransformOrThrow(const carto::common::Time time,
} }
void Node::OdometryMessageCallback(const nav_msgs::Odometry::ConstPtr& msg) { void Node::OdometryMessageCallback(const nav_msgs::Odometry::ConstPtr& msg) {
auto sensor_data = ::cartographer::common::make_unique<SensorData>( auto sensor_data = carto::common::make_unique<SensorData>(
msg->header.frame_id, ToRigid3d(msg->pose.pose), msg->header.frame_id, ToRigid3d(msg->pose.pose),
ToPoseCovariance(msg->pose.covariance)); ToPoseCovariance(msg->pose.covariance));
sensor_collator_.AddSensorData( sensor_collator_.AddSensorData(
kTrajectoryId, kTrajectoryId,
::cartographer::common::ToUniversal(FromRos(msg->header.stamp)), carto::common::ToUniversal(FromRos(msg->header.stamp)),
kOdometryTopic, std::move(sensor_data)); kOdometryTopic, std::move(sensor_data));
} }
void Node::AddOdometry(int64 timestamp, const string& frame_id, void Node::AddOdometry(int64 timestamp, const string& frame_id,
const Rigid3d& pose, const PoseCovariance& covariance) { const Rigid3d& pose, const PoseCovariance& covariance) {
const ::cartographer::common::Time time = const carto::common::Time time =
::cartographer::common::FromUniversal(timestamp); carto::common::FromUniversal(timestamp);
trajectory_builder_->AddOdometerPose(time, pose, covariance); trajectory_builder_->AddOdometerPose(time, pose, covariance);
} }
@ -483,14 +483,14 @@ void Node::Initialize() {
}))); })));
expected_sensor_identifiers.insert(topic); expected_sensor_identifiers.insert(topic);
} }
auto sparse_pose_graph_3d = ::cartographer::common::make_unique< auto sparse_pose_graph_3d = carto::common::make_unique<
::cartographer::mapping_3d::SparsePoseGraph>( carto::mapping_3d::SparsePoseGraph>(
::cartographer::mapping::CreateSparsePoseGraphOptions( carto::mapping::CreateSparsePoseGraphOptions(
lua_parameter_dictionary.GetDictionary("sparse_pose_graph").get()), lua_parameter_dictionary.GetDictionary("sparse_pose_graph").get()),
&thread_pool_, &constant_node_data_); &thread_pool_, &constant_node_data_);
trajectory_builder_ = ::cartographer::common::make_unique< trajectory_builder_ = carto::common::make_unique<
::cartographer::mapping_3d::GlobalTrajectoryBuilder>( carto::mapping_3d::GlobalTrajectoryBuilder>(
::cartographer::mapping_3d::CreateLocalTrajectoryBuilderOptions( carto::mapping_3d::CreateLocalTrajectoryBuilderOptions(
lua_parameter_dictionary.GetDictionary("trajectory_builder").get()), lua_parameter_dictionary.GetDictionary("trajectory_builder").get()),
sparse_pose_graph_3d.get()); sparse_pose_graph_3d.get());
sparse_pose_graph_ = std::move(sparse_pose_graph_3d); sparse_pose_graph_ = std::move(sparse_pose_graph_3d);