Replace a few string operator+ by absl::StrCat(). (#1244)
...in some places that can be called frequently.master
Michael Grupp
Wally B. Feed
parent
eb86ba6e7c
commit
da4b3e7639
|
|
@ -17,6 +17,7 @@
|
|||
#include "cartographer_ros/map_builder_bridge.h"
|
||||
|
||||
#include "absl/memory/memory.h"
|
||||
#include "absl/strings/str_cat.h"
|
||||
#include "cartographer/io/color.h"
|
||||
#include "cartographer/io/proto_stream.h"
|
||||
#include "cartographer/mapping/pose_graph.h"
|
||||
|
|
@ -45,7 +46,7 @@ constexpr double kConstraintMarkerScale = 0.025;
|
|||
visualization_msgs::Marker CreateTrajectoryMarker(const int trajectory_id,
|
||||
const std::string& frame_id) {
|
||||
visualization_msgs::Marker marker;
|
||||
marker.ns = "Trajectory " + std::to_string(trajectory_id);
|
||||
marker.ns = absl::StrCat("Trajectory ", trajectory_id);
|
||||
marker.id = 0;
|
||||
marker.type = visualization_msgs::Marker::LINE_STRIP;
|
||||
marker.header.stamp = ::ros::Time::now();
|
||||
|
|
|
|||
|
|
@ -22,6 +22,7 @@
|
|||
|
||||
#include "Eigen/Core"
|
||||
#include "absl/memory/memory.h"
|
||||
#include "absl/strings/str_cat.h"
|
||||
#include "cartographer/common/configuration_file_resolver.h"
|
||||
#include "cartographer/common/lua_parameter_dictionary.h"
|
||||
#include "cartographer/common/port.h"
|
||||
|
|
@ -471,8 +472,8 @@ cartographer_ros_msgs::StatusResponse Node::FinishTrajectoryUnderLock(
|
|||
|
||||
cartographer_ros_msgs::StatusResponse status_response;
|
||||
if (trajectories_scheduled_for_finish_.count(trajectory_id)) {
|
||||
const std::string message = "Trajectory " + std::to_string(trajectory_id) +
|
||||
" already pending to finish.";
|
||||
const std::string message = absl::StrCat("Trajectory ", trajectory_id,
|
||||
" already pending to finish.");
|
||||
status_response.code = cartographer_ros_msgs::StatusCode::OK;
|
||||
status_response.message = message;
|
||||
LOG(INFO) << message;
|
||||
|
|
@ -482,21 +483,21 @@ cartographer_ros_msgs::StatusResponse Node::FinishTrajectoryUnderLock(
|
|||
// First, check if we can actually finish the trajectory.
|
||||
if (!(trajectory_states.count(trajectory_id))) {
|
||||
const std::string error =
|
||||
"Trajectory " + std::to_string(trajectory_id) + " doesn't exist.";
|
||||
absl::StrCat("Trajectory ", trajectory_id, " doesn't exist.");
|
||||
LOG(ERROR) << error;
|
||||
status_response.code = cartographer_ros_msgs::StatusCode::NOT_FOUND;
|
||||
status_response.message = error;
|
||||
return status_response;
|
||||
} else if (trajectory_states.at(trajectory_id) == TrajectoryState::FROZEN) {
|
||||
const std::string error =
|
||||
"Trajectory " + std::to_string(trajectory_id) + " is frozen.";
|
||||
absl::StrCat("Trajectory ", trajectory_id, " is frozen.");
|
||||
LOG(ERROR) << error;
|
||||
status_response.code = cartographer_ros_msgs::StatusCode::INVALID_ARGUMENT;
|
||||
status_response.message = error;
|
||||
return status_response;
|
||||
} else if (trajectory_states.at(trajectory_id) == TrajectoryState::FINISHED) {
|
||||
const std::string error = "Trajectory " + std::to_string(trajectory_id) +
|
||||
" has already been finished.";
|
||||
const std::string error = absl::StrCat("Trajectory ", trajectory_id,
|
||||
" has already been finished.");
|
||||
LOG(ERROR) << error;
|
||||
status_response.code =
|
||||
cartographer_ros_msgs::StatusCode::RESOURCE_EXHAUSTED;
|
||||
|
|
@ -504,7 +505,7 @@ cartographer_ros_msgs::StatusResponse Node::FinishTrajectoryUnderLock(
|
|||
return status_response;
|
||||
} else if (trajectory_states.at(trajectory_id) == TrajectoryState::DELETED) {
|
||||
const std::string error =
|
||||
"Trajectory " + std::to_string(trajectory_id) + " has been deleted.";
|
||||
absl::StrCat("Trajectory ", trajectory_id, " has been deleted.");
|
||||
LOG(ERROR) << error;
|
||||
status_response.code =
|
||||
cartographer_ros_msgs::StatusCode::RESOURCE_EXHAUSTED;
|
||||
|
|
@ -525,7 +526,7 @@ cartographer_ros_msgs::StatusResponse Node::FinishTrajectoryUnderLock(
|
|||
map_builder_bridge_.FinishTrajectory(trajectory_id);
|
||||
trajectories_scheduled_for_finish_.emplace(trajectory_id);
|
||||
const std::string message =
|
||||
"Finished trajectory " + std::to_string(trajectory_id) + ".";
|
||||
absl::StrCat("Finished trajectory ", trajectory_id, ".");
|
||||
status_response.code = cartographer_ros_msgs::StatusCode::OK;
|
||||
status_response.message = message;
|
||||
return status_response;
|
||||
|
|
@ -641,10 +642,12 @@ bool Node::HandleWriteState(
|
|||
if (map_builder_bridge_.SerializeState(request.filename,
|
||||
request.include_unfinished_submaps)) {
|
||||
response.status.code = cartographer_ros_msgs::StatusCode::OK;
|
||||
response.status.message = "State written to '" + request.filename + "'.";
|
||||
response.status.message =
|
||||
absl::StrCat("State written to '", request.filename, "'.");
|
||||
} else {
|
||||
response.status.code = cartographer_ros_msgs::StatusCode::INVALID_ARGUMENT;
|
||||
response.status.message = "Failed to write '" + request.filename + "'.";
|
||||
response.status.message =
|
||||
absl::StrCat("Failed to write '", request.filename, "'.");
|
||||
}
|
||||
return true;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -16,14 +16,15 @@
|
|||
|
||||
#include "cartographer_ros/ros_map.h"
|
||||
|
||||
#include "absl/strings/str_cat.h"
|
||||
|
||||
namespace cartographer_ros {
|
||||
|
||||
void WritePgm(const ::cartographer::io::Image& image, const double resolution,
|
||||
::cartographer::io::FileWriter* file_writer) {
|
||||
const std::string header = "P5\n# Cartographer map; " +
|
||||
std::to_string(resolution) + " m/pixel\n" +
|
||||
std::to_string(image.width()) + " " +
|
||||
std::to_string(image.height()) + "\n255\n";
|
||||
const std::string header =
|
||||
absl::StrCat("P5\n# Cartographer map; ", resolution, " m/pixel\n",
|
||||
image.width(), " ", image.height(), "\n255\n");
|
||||
file_writer->Write(header.data(), header.size());
|
||||
for (int y = 0; y < image.height(); ++y) {
|
||||
for (int x = 0; x < image.width(); ++x) {
|
||||
|
|
@ -38,11 +39,10 @@ void WriteYaml(const double resolution, const Eigen::Vector2d& origin,
|
|||
::cartographer::io::FileWriter* file_writer) {
|
||||
// Magic constants taken directly from ros map_saver code:
|
||||
// https://github.com/ros-planning/navigation/blob/ac41d2480c4cf1602daf39a6e9629142731d92b0/map_server/src/map_saver.cpp#L114
|
||||
const std::string output =
|
||||
"image: " + pgm_filename + "\n" +
|
||||
"resolution: " + std::to_string(resolution) + "\n" + "origin: [" +
|
||||
std::to_string(origin.x()) + ", " + std::to_string(origin.y()) +
|
||||
", 0.0]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n";
|
||||
const std::string output = absl::StrCat(
|
||||
"image: ", pgm_filename, "\n", "resolution: ", resolution, "\n",
|
||||
"origin: [", origin.x(), ", ", origin.y(),
|
||||
", 0.0]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n");
|
||||
file_writer->Write(output.data(), output.size());
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -24,6 +24,7 @@
|
|||
#include "OgreMaterialManager.h"
|
||||
#include "OgreTechnique.h"
|
||||
#include "OgreTextureManager.h"
|
||||
#include "absl/strings/str_cat.h"
|
||||
#include "cartographer/common/port.h"
|
||||
|
||||
namespace cartographer_rviz {
|
||||
|
|
@ -37,9 +38,8 @@ constexpr char kSubmapTexturePrefix[] = "SubmapTexture";
|
|||
|
||||
std::string GetSliceIdentifier(
|
||||
const ::cartographer::mapping::SubmapId& submap_id, const int slice_id) {
|
||||
return std::to_string(submap_id.trajectory_id) + "-" +
|
||||
std::to_string(submap_id.submap_index) + "-" +
|
||||
std::to_string(slice_id);
|
||||
return absl::StrCat(submap_id.trajectory_id, "-", submap_id.submap_index, "-",
|
||||
slice_id);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
|
|
@ -60,12 +60,12 @@ OgreSlice::OgreSlice(const ::cartographer::mapping::SubmapId& id, int slice_id,
|
|||
scene_manager_(scene_manager),
|
||||
submap_node_(submap_node),
|
||||
slice_node_(submap_node_->createChildSceneNode()),
|
||||
manual_object_(scene_manager_->createManualObject(
|
||||
kManualObjectPrefix + GetSliceIdentifier(id, slice_id))) {
|
||||
manual_object_(scene_manager_->createManualObject(absl::StrCat(
|
||||
kManualObjectPrefix, GetSliceIdentifier(id, slice_id)))) {
|
||||
material_ = Ogre::MaterialManager::getSingleton().getByName(
|
||||
kSubmapSourceMaterialName);
|
||||
material_ = material_->clone(kSubmapMaterialPrefix +
|
||||
GetSliceIdentifier(id_, slice_id_));
|
||||
material_ = material_->clone(
|
||||
absl::StrCat(kSubmapMaterialPrefix, GetSliceIdentifier(id_, slice_id_)));
|
||||
material_->setReceiveShadows(false);
|
||||
material_->getTechnique(0)->setLightingEnabled(false);
|
||||
material_->setCullingMode(Ogre::CULL_NONE);
|
||||
|
|
@ -126,7 +126,7 @@ void OgreSlice::Update(
|
|||
texture_.setNull();
|
||||
}
|
||||
const std::string texture_name =
|
||||
kSubmapTexturePrefix + GetSliceIdentifier(id_, slice_id_);
|
||||
absl::StrCat(kSubmapTexturePrefix, GetSliceIdentifier(id_, slice_id_));
|
||||
texture_ = Ogre::TextureManager::getSingleton().loadRawData(
|
||||
texture_name, Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME,
|
||||
pixel_stream, submap_texture.width, submap_texture.height,
|
||||
|
|
|
|||
Loading…
Reference in New Issue