Add a extrapolator for poses. #430
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This will be used in Cartographer ROS to extrapolate poses for tf. PAIR=damonkohler
ensonic
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Jul 26, 2017
| void PoseExtrapolator::AddPose(const common::Time time, | ||
| const transform::Rigid3d& pose) { | ||
| timed_pose_queue_.push_back(TimedPose{time, pose}); | ||
| while (timed_pose_queue_.size() > 2 && |
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I would not expect a method called Add* to pop items off the vector.
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This is consistent with the code base. The interesting fact is that this adds new pose information.
ensonic
reviewed
Jul 26, 2017
| common::ToSeconds(last_time - timed_pose_queue_.front().time); | ||
| const transform::Rigid3d& last_pose = last_timed_pose.pose; | ||
| const Eigen::Vector3d linear_velocity = | ||
| (last_pose.translation() - timed_pose_queue_.front().pose.translation()) / |
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since you use a local var for last_timed_pose, maybe also do:
recent_timed_pose = timed_pose_queue_.front()
ensonic
reviewed
Jul 26, 2017
| const transform::Rigid3d& last_pose = last_timed_pose.pose; | ||
| const Eigen::Vector3d linear_velocity = | ||
| (last_pose.translation() - timed_pose_queue_.front().pose.translation()) / | ||
| queue_delta; |
ensonic
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Jul 26, 2017
wohe
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Jul 26, 2017
Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430.
wohe
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Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430.
ahundt
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Jul 27, 2017
* flatbuffers: flatbuffers versions of cartographer protos are now generated Add a extrapolator for poses. (cartographer-project#430) fix num submaps in trimmer_test (cartographer-project#424) Better tuning for 2D. (cartographer-project#428) Fix debug build (cartographer-project#418) Fix proto_stream to support 32-bit platforms. (cartographer-project#427) Draw Trajectories onto X-Rays and ProbabilityGrids. (cartographer-project#421)
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Jul 28, 2017
…ct#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430.
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Sep 10, 2017
…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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Sep 11, 2017
…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
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…(#451) Fixes cartographer-project/cartographer#102 for Cartographer ROS. Direct users of the Cartographer library can make use of cartographer-project/cartographer#430. Original commit: cartographer-project/cartographer_ros@d60e1e2
damienrg
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Nov 8, 2017
In the (non-offline) node, subscribing to the IMU topic was controlled by the 2D options even for 3D SLAM. It now correctly subscribes always similar to the offline node.
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This will be used in Cartographer ROS to extrapolate poses for tf.
PAIR=damonkohler