Move GetSubmapData from GlobalTrajectoryBuilder into SparsePoseGraph. #352
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Contributor
SirVer
commented
Jun 21, 2017
SirVer
commented
- Adds a function to query all SubmapData from the SparsePoseGraph.
- Changes MapBuilder::SubmapToProto to take a SubmapId.
- Adds a function to query all SubmapData from the SparsePoseGraph. - Changes MapBuilder::SubmapToProto to take a SubmapId.
wohe
approved these changes
Jun 21, 2017
| // 'submap_id'. | ||
| virtual SubmapData GetSubmapData(const SubmapId& submap_id) = 0; | ||
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| // Returns all SubmapData for all Submaps, by trajectory. |
| std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>> | ||
| SparsePoseGraph::GetAllSubmapsData() { | ||
| std::vector<std::vector<mapping::SparsePoseGraph::SubmapData>> | ||
| all_submaps_data; |
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all_submap_data and GetAllSubmapData?
| common::MutexLocker locker(&mutex_); | ||
| for (int trajectory_id = 0; trajectory_id < submap_data_.num_trajectories(); | ||
| ++trajectory_id) { | ||
| all_submaps_data.emplace_back(); |
| submap_id.submap_index < static_cast<int>(optimized_submap_transforms_ | ||
| .at(submap_id.trajectory_id) | ||
| .size())) { | ||
| submap_data.pose = optimized_submap_transforms_.at(submap_id.trajectory_id) |
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No need for the temporary, directly return {...?
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