75 lines
3.0 KiB
C++
75 lines
3.0 KiB
C++
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/*
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* Copyright 2017 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/internal/trajectory_connectivity_state.h"
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namespace cartographer {
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namespace mapping {
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void TrajectoryConnectivityState::Add(const int trajectory_id) {
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connected_components_.Add(trajectory_id);
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}
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void TrajectoryConnectivityState::Connect(const int trajectory_id_a,
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const int trajectory_id_b,
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const common::Time time) {
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if (TransitivelyConnected(trajectory_id_a, trajectory_id_b)) {
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// The trajectories are transitively connected, i.e. they belong to the same
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// connected component. In this case we only update the last connection time
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// of those two trajectories.
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auto sorted_pair = std::minmax(trajectory_id_a, trajectory_id_b);
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if (last_connection_time_map_[sorted_pair] < time) {
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last_connection_time_map_[sorted_pair] = time;
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}
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} else {
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// The connection between these two trajectories is about to join to
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// connected components. Here we update all bipartite trajectory pairs for
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// the two connected components with the connection time. This is to quickly
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// change to a more efficient loop closure search (by constraining the
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// search window) when connected components are joined.
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std::vector<int> component_a =
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connected_components_.GetComponent(trajectory_id_a);
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std::vector<int> component_b =
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connected_components_.GetComponent(trajectory_id_b);
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for (const auto id_a : component_a) {
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for (const auto id_b : component_b) {
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auto id_pair = std::minmax(id_a, id_b);
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last_connection_time_map_[id_pair] = time;
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}
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}
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}
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connected_components_.Connect(trajectory_id_a, trajectory_id_b);
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}
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bool TrajectoryConnectivityState::TransitivelyConnected(
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const int trajectory_id_a, const int trajectory_id_b) const {
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return connected_components_.TransitivelyConnected(trajectory_id_a,
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trajectory_id_b);
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}
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std::vector<std::vector<int>> TrajectoryConnectivityState::Components() const {
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return connected_components_.Components();
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}
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common::Time TrajectoryConnectivityState::LastConnectionTime(
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const int trajectory_id_a, const int trajectory_id_b) {
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const auto sorted_pair = std::minmax(trajectory_id_a, trajectory_id_b);
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return last_connection_time_map_[sorted_pair];
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}
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} // namespace mapping
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} // namespace cartographer
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