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Follow googlecartographer/cartographer#922 (#734) 

* Follow  googlecartographer/cartographer#927
master
Christoph Schütte 2018-02-23 15:02:18 +01:00 committed by GitHub
parent fb947f5c7e
commit caac1b3ae5
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4 changed files with 12 additions and 11 deletions
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4
cartographer_ros/cartographer_ros/pbstream_map_publisher_main.cc
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@ -26,8 +26,8 @@
#include "cartographer/mapping/proto/submap.pb.h" #include "cartographer/mapping/proto/submap.pb.h"
#include "cartographer/mapping/submaps.h" #include "cartographer/mapping/submaps.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping_2d/probability_grid.h"
#include "cartographer/mapping_2d/submaps.h" #include "cartographer/mapping_2d/submap_2d.h"
#include "cartographer/mapping_3d/submaps.h" #include "cartographer/mapping_3d/submap_3d.h"
#include "cartographer_ros/msg_conversion.h" #include "cartographer_ros/msg_conversion.h"
#include "cartographer_ros/node_constants.h" #include "cartographer_ros/node_constants.h"
#include "cartographer_ros/ros_log_sink.h" #include "cartographer_ros/ros_log_sink.h"

4
cartographer_ros/cartographer_ros/pbstream_to_ros_map_main.cc
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@ -24,8 +24,8 @@
#include "cartographer/mapping/proto/submap.pb.h" #include "cartographer/mapping/proto/submap.pb.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h" #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include "cartographer/mapping_2d/probability_grid.h" #include "cartographer/mapping_2d/probability_grid.h"
#include "cartographer/mapping_2d/submaps.h" #include "cartographer/mapping_2d/submap_2d.h"
#include "cartographer/mapping_3d/submaps.h" #include "cartographer/mapping_3d/submap_3d.h"
#include "cartographer_ros/ros_map.h" #include "cartographer_ros/ros_map.h"
#include "cartographer_ros/submap.h" #include "cartographer_ros/submap.h"
#include "gflags/gflags.h" #include "gflags/gflags.h"

4
cartographer_ros/cartographer_ros/ros_map_writing_points_processor.cc
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@ -25,7 +25,7 @@ namespace cartographer_ros {
RosMapWritingPointsProcessor::RosMapWritingPointsProcessor( RosMapWritingPointsProcessor::RosMapWritingPointsProcessor(
const double resolution, const double resolution,
const ::cartographer::mapping_2d::proto::RangeDataInserterOptions& const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
range_data_inserter_options, range_data_inserter_options,
::cartographer::io::FileWriterFactory file_writer_factory, ::cartographer::io::FileWriterFactory file_writer_factory,
const std::string& filestem, const std::string& filestem,
@ -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_2d::CreateRangeDataInserterOptions( ::cartographer::mapping::CreateRangeDataInserterOptions2D(
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);
} }

11
cartographer_ros/cartographer_ros/ros_map_writing_points_processor.h
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@ -20,8 +20,9 @@
#include "cartographer/common/lua_parameter_dictionary.h" #include "cartographer/common/lua_parameter_dictionary.h"
#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/proto/range_data_inserter_options.pb.h" #include "cartographer/mapping_2d/probability_grid.h"
#include "cartographer/mapping_2d/range_data_inserter.h" #include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
#include "cartographer/mapping_2d/range_data_inserter_2d.h"
namespace cartographer_ros { namespace cartographer_ros {
@ -33,7 +34,7 @@ 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_2d::proto::RangeDataInserterOptions& const ::cartographer::mapping::proto::RangeDataInserterOptions2D&
range_data_inserter_options, 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);
@ -55,8 +56,8 @@ 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_2d::RangeDataInserter range_data_inserter_; ::cartographer::mapping::RangeDataInserter2D range_data_inserter_;
::cartographer::mapping_2d::ProbabilityGrid probability_grid_; ::cartographer::mapping::ProbabilityGrid probability_grid_;
}; };
} // namespace cartographer_ros } // namespace cartographer_ros