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Moves SensorCollator into sensor package. (#113)

master
Damon Kohler 2016-10-17 10:58:18 +02:00 committed by GitHub
parent 53df586f69
commit d1707853af
3 changed files with 6 additions and 6 deletions
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4
cartographer_ros/cartographer_ros/node_main.cc
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@ -33,7 +33,7 @@
#include "cartographer/mapping/global_trajectory_builder_interface.h" #include "cartographer/mapping/global_trajectory_builder_interface.h"
#include "cartographer/mapping/map_builder.h" #include "cartographer/mapping/map_builder.h"
#include "cartographer/mapping/proto/submaps.pb.h" #include "cartographer/mapping/proto/submaps.pb.h"
#include "cartographer/mapping/sensor_collator.h" #include "cartographer/sensor/collator.h"
#include "cartographer/mapping_2d/global_trajectory_builder.h" #include "cartographer/mapping_2d/global_trajectory_builder.h"
#include "cartographer/mapping_2d/local_trajectory_builder.h" #include "cartographer/mapping_2d/local_trajectory_builder.h"
#include "cartographer/mapping_2d/sparse_pose_graph.h" #include "cartographer/mapping_2d/sparse_pose_graph.h"
@ -146,7 +146,7 @@ class Node {
std::deque<carto::mapping::TrajectoryNode::ConstantData> constant_data_ std::deque<carto::mapping::TrajectoryNode::ConstantData> constant_data_
GUARDED_BY(mutex_); GUARDED_BY(mutex_);
carto::mapping::MapBuilder map_builder_ GUARDED_BY(mutex_); carto::mapping::MapBuilder map_builder_ GUARDED_BY(mutex_);
carto::mapping::SensorCollator<carto::sensor::Data> sensor_collator_ carto::sensor::Collator<carto::sensor::Data> sensor_collator_
GUARDED_BY(mutex_); GUARDED_BY(mutex_);
SensorBridge sensor_bridge_ GUARDED_BY(mutex_); SensorBridge sensor_bridge_ GUARDED_BY(mutex_);

2
cartographer_ros/cartographer_ros/sensor_bridge.cc
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@ -59,7 +59,7 @@ SensorBridgeOptions CreateSensorBridgeOptions(
SensorBridge::SensorBridge( SensorBridge::SensorBridge(
const SensorBridgeOptions& options, const TfBridge* const tf_bridge, const SensorBridgeOptions& options, const TfBridge* const tf_bridge,
const int trajectory_id, const int trajectory_id,
carto::mapping::SensorCollator<carto::sensor::Data>* const sensor_collator) carto::sensor::Collator<carto::sensor::Data>* const sensor_collator)
: options_(options), : options_(options),
tf_bridge_(tf_bridge), tf_bridge_(tf_bridge),
trajectory_id_(trajectory_id), trajectory_id_(trajectory_id),

6
cartographer_ros/cartographer_ros/sensor_bridge.h
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@ -17,7 +17,7 @@
#ifndef CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_ #ifndef CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_
#define CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_ #define CARTOGRAPHER_ROS_SENSOR_BRIDGE_H_
#include "cartographer/mapping/sensor_collator.h" #include "cartographer/sensor/collator.h"
#include "cartographer/sensor/data.h" #include "cartographer/sensor/data.h"
#include "cartographer/transform/rigid_transform.h" #include "cartographer/transform/rigid_transform.h"
#include "cartographer/transform/transform.h" #include "cartographer/transform/transform.h"
@ -50,7 +50,7 @@ class SensorBridge {
explicit SensorBridge( explicit SensorBridge(
const SensorBridgeOptions& options, const TfBridge* tf_bridge, const SensorBridgeOptions& options, const TfBridge* tf_bridge,
int trajectory_id, int trajectory_id,
::cartographer::mapping::SensorCollator<::cartographer::sensor::Data>* ::cartographer::sensor::Collator<::cartographer::sensor::Data>*
sensor_collator); sensor_collator);
SensorBridge(const SensorBridge&) = delete; SensorBridge(const SensorBridge&) = delete;
@ -77,7 +77,7 @@ class SensorBridge {
const SensorBridgeOptions options_; const SensorBridgeOptions options_;
const TfBridge* const tf_bridge_; const TfBridge* const tf_bridge_;
const int trajectory_id_; const int trajectory_id_;
::cartographer::mapping::SensorCollator<::cartographer::sensor::Data>* const ::cartographer::sensor::Collator<::cartographer::sensor::Data>* const
sensor_collator_; sensor_collator_;
}; };