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14 Commits (5effc4dac77be93d5669aae9e139db7318322a12)

Author SHA1 Message Date
Wolfgang Hess 5effc4dac7 Remove flat indices from SparsePoseGraph::GetTrajectoryNodes(). (#288) 
Related to #256.

Also removes ComputeMapLimits with is moved to Cartographer ROS.

PAIR=SirVer
 2017-05-16 10:51:08 +02:00
Jihoon Lee f26e4366c9 Make SparsePoseGraph::constraints() public. (#284) 2017-05-15 16:06:20 +02:00
Wolfgang Hess fde9272533 Adds mapping:NodeId for Constraint. (#279) 
Also extracted mapping::SubmapId into an id.h file.

Related to #256.

PAIR=SirVer
 2017-05-11 17:17:12 +02:00
Holger Rapp e6a6bab351 Make TrajectoryConnectivity use trajectory IDs. (#275) 
Related to #256.
 2017-05-11 13:36:12 +02:00
Holger Rapp 95f0d013c6 Rename Constraint::i -> submap_id. (#274) 
Related to #256.
 2017-05-11 11:43:47 +02:00
Holger Rapp 94e8eec41d Use (trajectory_id, submap_index) as submap IDs in places. (#271) 
Replace flat submap index through (trajectory_id, submap_index) in Constraints.
Related to #256.

PAIR=wohe
 2017-05-10 12:26:58 +02:00
Holger Rapp 45de59b116 Move trajectory id mapping into the SparsePoseGraph. (#270) 2017-05-10 08:23:57 +02:00
Holger Rapp 20e9cde53d Fix race condition in extrapolation of submap poses. (#268) 
PAIR=wohe
 2017-05-09 15:21:30 +02:00
Holger Rapp e2de27cded Remove dead code. (#262) 2017-05-08 11:06:33 +02:00
Mac Mason 92d360a8f2 Multi-trajectory SparsePoseGraph::ToProto. (#227) 
Multi-trajectory SparsePoseGraph::ToProto.
Remove obsolete TrajectoryNode::ToProto.
Add GetSubmapStates.
 2017-04-19 17:01:03 +02:00
Wolfgang Hess c80c2eaa40 Unify 2D/3D constraints. (#119) 
This removes Constraint2D and instead embeds 2D constraints in a
Constraint3D which is renamed to Constraint.
 2016-11-08 14:47:03 +01:00
Wolfgang Hess 4917dd65ce Add serialization of the sparse pose graph. (#97) 2016-10-25 16:56:26 +02:00
Wolfgang Hess 6e56578394 Rename to local/global map frame. (#2) 
Changes the confusingly named GetOdometryToMapTransform() function
to GetLocalToGlobalTransform(), since it is transforming from the
local SLAM map frame to the global SLAM map frame.
 2016-08-10 12:09:52 +02:00
Damon Kohler 269c28cb0c Moves the contents of the cartographer subdirectory up one level. 2016-08-03 12:48:29 +02:00