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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.
master
Wolfgang Hess 2016-08-10 12:17:13 +02:00 committed by GitHub
parent d8a4c07464
commit cb9220ec32
1 changed files with 1 additions and 1 deletions
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2
cartographer_ros/src/cartographer_node_main.cc
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@ -533,7 +533,7 @@ void Node::PublishPose(const int64 timestamp) {
const ::cartographer::mapping::Submaps* submaps = const ::cartographer::mapping::Submaps* submaps =
trajectory_builder_->submaps(); trajectory_builder_->submaps();
const Rigid3d local_to_map = 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; const Rigid3d tracking_to_map = local_to_map * tracking_to_local;
geometry_msgs::TransformStamped stamped_transform; geometry_msgs::TransformStamped stamped_transform;