文件位置:
cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h
cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
RealTimeCorrelativeScanMatcher2D::GenerateExhaustiveSearchCandidates
生成备选位姿
RealTimeCorrelativeScanMatcher2D::ScoreCandidates
为每一种备选位姿计算权重
RealTimeCorrelativeScanMatcher2D::Match
最终择优匹配