From cb9220ec3277b031338ef3840f4107f473b0e19d Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <wohe@users.noreply.github.com>
Date: Wed, 10 Aug 2016 12:17:13 +0200
Subject: [PATCH] Rename to local/global map frame. (#16)

Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
---
 cartographer_ros/src/cartographer_node_main.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/cartographer_ros/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc
index 740f95a..be8f6da 100644
--- a/cartographer_ros/src/cartographer_node_main.cc
+++ b/cartographer_ros/src/cartographer_node_main.cc
@@ -533,7 +533,7 @@ void Node::PublishPose(const int64 timestamp) {
   const ::cartographer::mapping::Submaps* submaps =
       trajectory_builder_->submaps();
   const Rigid3d local_to_map =
-      sparse_pose_graph_->GetOdometryToMapTransform(*submaps);
+      sparse_pose_graph_->GetLocalToGlobalTransform(*submaps);
   const Rigid3d tracking_to_map = local_to_map * tracking_to_local;
 
   geometry_msgs::TransformStamped stamped_transform;