51 lines
1.6 KiB
C++
Executable File
51 lines
1.6 KiB
C++
Executable File
/*
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* Copyright 2016 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/mapping/pose_graph_trimmer.h"
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#include "glog/logging.h"
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namespace cartographer {
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namespace mapping {
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PureLocalizationTrimmer::PureLocalizationTrimmer(const int trajectory_id,
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const int num_submaps_to_keep)
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: trajectory_id_(trajectory_id), num_submaps_to_keep_(num_submaps_to_keep) {
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CHECK_GE(num_submaps_to_keep, 2) << "Cannot trim with less than 2 submaps";
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}
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void PureLocalizationTrimmer::Trim(Trimmable* const pose_graph) {
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if (pose_graph->IsFinished(trajectory_id_)) {
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num_submaps_to_keep_ = 0;
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}
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auto submap_ids = pose_graph->GetSubmapIds(trajectory_id_);
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for (std::size_t i = 0; i + num_submaps_to_keep_ < submap_ids.size(); ++i) {
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pose_graph->TrimSubmap(submap_ids.at(i));
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}
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if (num_submaps_to_keep_ == 0) {
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finished_ = true;
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pose_graph->SetTrajectoryState(
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trajectory_id_, PoseGraphInterface::TrajectoryState::DELETED);
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}
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}
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bool PureLocalizationTrimmer::IsFinished() { return finished_; }
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} // namespace mapping
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} // namespace cartographer
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