78 lines
3.1 KiB
C
78 lines
3.1 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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#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TRAJECTORY_CONNECTIVITY_STATE_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_TRAJECTORY_CONNECTIVITY_STATE_H_
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#include "cartographer/common/time.h"
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#include "cartographer/mapping/internal/connected_components.h"
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namespace cartographer {
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namespace mapping {
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// A class that tracks the connectivity state between trajectories. Compared to
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// ConnectedComponents it tracks additionally the last time that a global
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// constraint connected to trajectories.
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//
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// This class is thread-compatible.
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class TrajectoryConnectivityState {
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public:
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TrajectoryConnectivityState() {}
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TrajectoryConnectivityState(const TrajectoryConnectivityState&) = delete;
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TrajectoryConnectivityState& operator=(const TrajectoryConnectivityState&) =
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delete;
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// Add a trajectory which is initially connected to only itself.
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void Add(int trajectory_id);
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// Connect two trajectories. If either trajectory is untracked, it will be
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// tracked. This function is invariant to the order of its arguments. Repeated
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// calls to Connect increment the connectivity count and update the last
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// connected time.
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void Connect(int trajectory_id_a, int trajectory_id_b, common::Time time);
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// Determines if two trajectories have been (transitively) connected. If
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// either trajectory is not being tracked, returns false, except when it is
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// the same trajectory, where it returns true. This function is invariant to
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// the order of its arguments.
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bool TransitivelyConnected(int trajectory_id_a, int trajectory_id_b) const;
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// The trajectory IDs, grouped by connectivity.
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std::vector<std::vector<int>> Components() const;
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// Return the last connection count between the two trajectories. If either of
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// the trajectories is untracked or they have never been connected returns the
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// beginning of time.
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common::Time LastConnectionTime(int trajectory_id_a, int trajectory_id_b);
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private:
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// ConnectedComponents are thread safe.
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mutable ConnectedComponents connected_components_;
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// Tracks the last time a direct connection between two trajectories has
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// been added. The exception is when a connection between two trajectories
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// connects two formerly unconnected connected components. In this case all
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// bipartite trajectories entries for these components are updated with the
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// new connection time.
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std::map<std::pair<int, int>, common::Time> last_connection_time_map_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_TRAJECTORY_CONNECTIVITY_STATE_H_
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