12345qiupeng
/
cartographer_ros
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Avoid auto for Eigen expressiongs. () 

While harmless in most cases, auto can delay evaluation
of expressions in unexpected ways.
So it is better to avoid auto for Eigen expressions.
https://eigen.tuxfamily.org/dox/TopicPitfalls.html
master
gaschler 2018-02-19 14:40:13 +01:00 committed by Wally B. Feed
parent a2a587b3cb
commit fb947f5c7e
3 changed files with 4 additions and 4 deletions

4
cartographer_ros/cartographer_ros/msg_conversion.cc
View File

@ -133,7 +133,7 @@ LaserScanToPointCloudWithIntensities(const LaserMessageType& msg) {
if (!point_cloud.points.empty()) { if (!point_cloud.points.empty()) {
const double duration = point_cloud.points.back()[3]; const double duration = point_cloud.points.back()[3];
timestamp += cartographer::common::FromSeconds(duration); timestamp += cartographer::common::FromSeconds(duration);
for (auto& point : point_cloud.points) { for (Eigen::Vector4f& point : point_cloud.points) {
point[3] -= duration; point[3] -= duration;
} }
} }
@ -157,7 +157,7 @@ sensor_msgs::PointCloud2 ToPointCloud2Message(
const ::cartographer::sensor::TimedPointCloud& point_cloud) { const ::cartographer::sensor::TimedPointCloud& point_cloud) {
auto msg = PreparePointCloud2Message(timestamp, frame_id, point_cloud.size()); auto msg = PreparePointCloud2Message(timestamp, frame_id, point_cloud.size());
::ros::serialization::OStream stream(msg.data.data(), msg.data.size()); ::ros::serialization::OStream stream(msg.data.data(), msg.data.size());
for (const auto& point : point_cloud) { for (const Eigen::Vector4f& point : point_cloud) {
stream.next(point.x()); stream.next(point.x());
stream.next(point.y()); stream.next(point.y());
stream.next(point.z()); stream.next(point.z());

2
cartographer_ros/cartographer_ros/rosbag_validate_main.cc
View File

@ -177,7 +177,7 @@ class RangeDataChecker {
const cartographer::sensor::TimedPointCloud& point_cloud = const cartographer::sensor::TimedPointCloud& point_cloud =
std::get<0>(point_cloud_with_intensities).points; std::get<0>(point_cloud_with_intensities).points;
Eigen::Vector4f points_sum = Eigen::Vector4f::Zero(); Eigen::Vector4f points_sum = Eigen::Vector4f::Zero();
for (const auto& point : point_cloud) { for (const Eigen::Vector4f& point : point_cloud) {
points_sum += point; points_sum += point;
} }
return {point_cloud.size(), points_sum}; return {point_cloud.size(), points_sum};

2
cartographer_ros/cartographer_ros/sensor_bridge.cc
View File

@ -192,7 +192,7 @@ void SensorBridge::HandleLaserScan(
// send all other sensor data first. // send all other sensor data first.
const carto::common::Time subdivision_time = const carto::common::Time subdivision_time =
time + carto::common::FromSeconds(time_to_subdivision_end); time + carto::common::FromSeconds(time_to_subdivision_end);
for (auto& point : subdivision) { for (Eigen::Vector4f& point : subdivision) {
point[3] -= time_to_subdivision_end; point[3] -= time_to_subdivision_end;
} }
CHECK_EQ(subdivision.back()[3], 0); CHECK_EQ(subdivision.back()[3], 0);