ConstantData is now owned by the SPG. (cartographer-project#326)

damienrg · May 8, 2017 · 5294050 · 5294050
1 parent 1d256ad
commit 5294050
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Showing 2 changed files with 1 addition and 3 deletions.
diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.cc b/cartographer_ros/cartographer_ros/map_builder_bridge.cc
@@ -26,7 +26,7 @@ namespace cartographer_ros {
 MapBuilderBridge::MapBuilderBridge(const NodeOptions& options,
                                    tf2_ros::Buffer* const tf_buffer)
     : options_(options),
-      map_builder_(options.map_builder_options, &constant_data_),
+      map_builder_(options.map_builder_options),
       tf_buffer_(tf_buffer) {}
 
 int MapBuilderBridge::AddTrajectory(

diff --git a/cartographer_ros/cartographer_ros/map_builder_bridge.h b/cartographer_ros/cartographer_ros/map_builder_bridge.h
@@ -64,8 +64,6 @@ class MapBuilderBridge {
  private:
   const NodeOptions options_;
 
-  std::deque<cartographer::mapping::TrajectoryNode::ConstantData>
-      constant_data_;
   cartographer::mapping::MapBuilder map_builder_;
   tf2_ros::Buffer* const tf_buffer_;
   std::unordered_map<int, std::unique_ptr<SensorBridge>> sensor_bridges_;