54f7f4f969
Skip constraint search against unfinished submaps. ( #1362 )
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The uplink server only receives the grid content of a submap after
that submap is finished for efficiency. Therefore, constraint
searches against that submap need to be skipped.
Also add checks to avoid this in the future.
FIXES=#1360
2018-08-06 17:34:40 +02:00
77886cb53b
Integrate TSDF components into SLAM pipeline. ( #1361 )
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[RFC=0019](https://github.com/googlecartographer/rfcs/blob/master/text/0019-probability-grid-and-submap2d-restructuring.md )
2018-08-03 11:56:35 +02:00
a3c9e9f1ca
Add argument to SerializeState for excluding unfinished submaps ( #1352 )
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Adds a boolean argument to MapBuilderInterface::SerializeState() to indicate whether the caller wants to include unfinished submaps in the serialized state.
For cartographer_grpc this argument will be set to false since unfinished submaps do not have a Grid which would lead to a crash in the Submap::ToProto() function.
2018-07-30 17:27:54 +02:00
5b44305ea3
[ABSL] Purge common::make_unique. ( #1340 )
2018-07-27 19:43:35 +02:00
dafb4149ed
Revert: Fix writing state of trajectories with unfinished submaps. #1286 ( #1346 )
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Reason: Break rviz visualization for submaps loaded from pbstreams.
2018-07-27 17:20:42 +02:00
0ee06ba561
Fix writing state of trajectories with unfinished submaps. ( #1286 )
2018-07-17 08:39:50 +02:00
41b642d92b
check trajectory remapping in test ( #1208 )
2018-06-20 13:55:09 +02:00
54041d76eb
DeleteTrajectory ( #1205 )
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[RFC=0023](https://github.com/googlecartographer/rfcs/blob/master/text/0023-delete-load.md )
2018-06-19 13:41:55 +02:00
f79c6afee7
Rename namespace to testing ( #1191 )
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We commonly use the namespace testing for test helpers,
so rename similar namespaces to "testing" for consistency.
2018-06-12 15:18:20 +02:00
29f6ea9ea3
Test LoadState and pure localization ( #1190 )
2018-06-12 12:49:07 +02:00
ce18ec7295
Add SetGlobalSlamOptimizationCallback() ( #1164 )
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to allow setting the GlobalSlamOptimizationCallback after MapBuilder and PoseGraph
creation. Also removes the GlobalSlamOptimizationCallback from the Constructor
since it is not used.
Prerequisite for implementing ReceiveGlobalSlamOptimizations() in gRPC MapBuilderInterface.
2018-05-25 12:29:52 +02:00
ce67d684ba
Introduce a GlobalSlamResultCallback ( #1143 )
2018-05-10 11:25:00 +02:00
89ac5cbabf
Test GlobalSlam3D ( #1114 )
2018-04-25 15:00:13 +02:00
75f899117a
Move to testing/. ( #1067 )
2018-04-16 12:47:11 +02:00
0190e7cd99
Clean-up dependencies of map_builder and put getters to the header. ( #989 )
2018-03-14 13:33:44 +01:00
29875117b3
Move internal/mapping to mapping/internal. ( #941 )
2018-02-27 16:25:53 +01:00
dab69e0ca0
Struct SensorId ( #839 )
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* WIP, started unordered_set<SensorId>
* struct SensorId. Works for cartographer without grpc.
* correct test
* SensorId in cartographer_grpc/
* clean up
* try to fix for trusty
* SensorId::operator==
* Ran clang-format.
2018-01-26 15:07:49 +01:00
d313af8674
Add InsertionResult to LocalSlamResult. ( #801 )
2018-01-10 17:26:04 +01:00
dbb3f7cde4
Test TrajectoryBuilderStub ( #780 )
2018-01-03 14:56:56 +01:00
03751b3c9f
Implement local SLAM subscriptions in MapBuilderServer ( #766 )
2017-12-18 16:32:34 +01:00
c6decd5b7b
Test MapBuilderServer ( #762 )
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Test to start and stop the MapBuilderServer.
Moves test helper functions in common with MapBuilderTest
to internal/mapping.
2017-12-18 11:52:17 +01:00
d49706944f
FixedFramePoseData in gRPC server ( #761 )
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Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
2017-12-15 15:26:58 +01:00
6817d22788
Test global 2D SLAM. ( #751 )
2017-12-15 14:45:56 +01:00
3ae78563c6
Introduce TrajectoryBuilderInterface. ( #736 )
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[RFC=0004](https://github.com/googlecartographer/rfcs/blob/master/text/0004-trajectory-builder-interface.md )
2017-12-08 11:52:29 +01:00
4c999037b4
Integration tests for local slam. ( #734 )
2017-12-06 15:58:16 +01:00
49d55d97c1
Test MapBuilder ( #731 )
2017-12-05 14:04:10 +01:00
gaschler
Kevin Daun
Christoph Schütte
Alexander Belyaev