在map或set中使用自定义类，要自己实现比较大小的功能

这里以submapId为例

struct SubmapId {
  SubmapId(int trajectory_id, int submap_index)
      : trajectory_id(trajectory_id), submap_index(submap_index) {}

  int trajectory_id;
  int submap_index;

  bool operator==(const SubmapId& other) const {
    return std::forward_as_tuple(trajectory_id, submap_index) ==
           std::forward_as_tuple(other.trajectory_id, other.submap_index);
  }

  bool operator!=(const SubmapId& other) const { return !operator==(other); }

  bool operator<(const SubmapId& other) const {
    return std::forward_as_tuple(trajectory_id, submap_index) <
           std::forward_as_tuple(other.trajectory_id, other.submap_index);
  }

};