Move LocalSlamResultCallback to AddTrajectory (cartographer-project#724)

magazino · Mar 6, 2018 · 69f55a5 · 69f55a5
1 parent 63a7205
commit 69f55a5
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Showing 3 changed files with 11 additions and 15 deletions.
diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc
@@ -53,12 +53,8 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
   return options;
 }
 
-MapBuilder::MapBuilder(
-    const proto::MapBuilderOptions& options,
-    const LocalSlamResultCallback& local_slam_result_callback)
-    : options_(options),
-      thread_pool_(options.num_background_threads()),
-      local_slam_result_callback_(local_slam_result_callback) {
+MapBuilder::MapBuilder(const proto::MapBuilderOptions& options)
+    : options_(options), thread_pool_(options.num_background_threads()) {
   if (options.use_trajectory_builder_2d()) {
     pose_graph_2d_ = common::make_unique<mapping_2d::PoseGraph>(
         options_.pose_graph_options(), &thread_pool_);
@@ -75,7 +71,8 @@ MapBuilder::~MapBuilder() {}
 
 int MapBuilder::AddTrajectoryBuilder(
     const std::unordered_set<std::string>& expected_sensor_ids,
-    const proto::TrajectoryBuilderOptions& trajectory_options) {
+    const proto::TrajectoryBuilderOptions& trajectory_options,
+    LocalSlamResultCallback local_slam_result_callback) {
   const int trajectory_id = trajectory_builders_.size();
   if (options_.use_trajectory_builder_3d()) {
     CHECK(trajectory_options.has_trajectory_builder_3d_options());
@@ -88,7 +85,7 @@ int MapBuilder::AddTrajectoryBuilder(
                 mapping_3d::PoseGraph>>(
                 trajectory_options.trajectory_builder_3d_options(),
                 trajectory_id, pose_graph_3d_.get(),
-                local_slam_result_callback_)));
+                local_slam_result_callback)));
   } else {
     CHECK(trajectory_options.has_trajectory_builder_2d_options());
     trajectory_builders_.push_back(
@@ -100,7 +97,7 @@ int MapBuilder::AddTrajectoryBuilder(
                 mapping_2d::PoseGraph>>(
                 trajectory_options.trajectory_builder_2d_options(),
                 trajectory_id, pose_graph_2d_.get(),
-                local_slam_result_callback_)));
+                local_slam_result_callback)));
   }
   if (trajectory_options.pure_localization()) {
     constexpr int kSubmapsToKeep = 3;

diff --git a/cartographer/mapping/map_builder.h b/cartographer/mapping/map_builder.h
@@ -38,16 +38,16 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
 // and a PoseGraph for loop closure.
 class MapBuilder : public MapBuilderInterface {
  public:
-  MapBuilder(const proto::MapBuilderOptions& options,
-             const LocalSlamResultCallback& local_slam_result_callback);
+  MapBuilder(const proto::MapBuilderOptions& options);
   ~MapBuilder() override;
 
   MapBuilder(const MapBuilder&) = delete;
   MapBuilder& operator=(const MapBuilder&) = delete;
 
   int AddTrajectoryBuilder(
       const std::unordered_set<std::string>& expected_sensor_ids,
-      const proto::TrajectoryBuilderOptions& trajectory_options) override;
+      const proto::TrajectoryBuilderOptions& trajectory_options,
+      LocalSlamResultCallback local_slam_result_callback) override;
 
   int AddTrajectoryForDeserialization() override;
 
@@ -75,8 +75,6 @@ class MapBuilder : public MapBuilderInterface {
   std::unique_ptr<mapping_3d::PoseGraph> pose_graph_3d_;
   mapping::PoseGraph* pose_graph_;
 
-  LocalSlamResultCallback local_slam_result_callback_;
-
   sensor::Collator sensor_collator_;
   std::vector<std::unique_ptr<mapping::TrajectoryBuilder>> trajectory_builders_;
 };

diff --git a/cartographer/mapping/map_builder_interface.h b/cartographer/mapping/map_builder_interface.h
@@ -51,7 +51,8 @@ class MapBuilderInterface {
   // Creates a new trajectory builder and returns its index.
   virtual int AddTrajectoryBuilder(
       const std::unordered_set<std::string>& expected_sensor_ids,
-      const proto::TrajectoryBuilderOptions& trajectory_options) = 0;
+      const proto::TrajectoryBuilderOptions& trajectory_options,
+      LocalSlamResultCallback local_slam_result_callback) = 0;
 
   // Creates a new trajectory and returns its index. Querying the trajectory
   // builder for it will return 'nullptr'.