在接口头文件cartographer/mapping/map_builder_interface.h里面添加
//wishchin 添加新的重载!//这个虚函数竟然不能添加
//virtual int AddTrajectoryBuilderPure(
virtual int AddTrajectoryBuilderConfine(
const std::set<SensorId>& expected_sensor_ids,
const proto::TrajectoryBuilderOptions& trajectory_options,
bool submap_pure_wish,
LocalSlamResultCallback local_slam_result_callback) = 0;
这个是纯虚函数,必须在子类里面全部实现
定义函数格式
cartographer/mapping/internal/testing/mock_map_builder.h
MOCK_METHOD4(
AddTrajectoryBuilderConfine,
int(const std::set<SensorId> &expected_sensor_ids,
const mapping::proto::TrajectoryBuilderOptions &trajectory_options,
bool submap_pure_wish,
mapping::MapBuilderInterface::LocalSlamResultCallback
local_slam_result_callback) );
在 cartographer/mapping/map_builder.h里面实例化
int AddTrajectoryBuilderConfine(
const std::set<SensorId> &expected_sensor_ids,
const proto::TrajectoryBuilderOptions &trajectory_options,
bool submap_pure_wish,
LocalSlamResultCallback local_slam_result_callback) override;
接口实现cartographer/mapping/map_builder.cc
int MapBuilder::AddTrajectoryBuilderConfine(
const std::set<SensorId>& expected_sensor_ids,
const proto::TrajectoryBuilderOptions& trajectory_options,
bool submap_pure_wish,
LocalSlamResultCallback local_slam_result_callback)
{
# ifdef LOG_FUNC_wish
{ LOG(INFO) << "..func...MapBuilder::AddTrajec................
同样需要在所有的派生类里面实现实例化
CollatedTrajectoryBuilder和GlobalTrajectoryBuilder2D都继承于TrajectoryBuilderInterface
其他工作
需要Dispatchable::Data 和 AddSensorData( 预先完成
过程:
CollatedTrajectoryBuilder需要sensor_collator_, GlobalTrajectoryBuilder2D;
data->AddToTrajectoryBuilder
5GlobalTrajectoryBuilder2D->AddSensorData