75 lines
3.0 KiB
C++
Executable File
75 lines
3.0 KiB
C++
Executable File
/*
|
|
* Copyright 2017 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#include "cartographer/mapping/internal/trajectory_connectivity_state.h"
|
|
|
|
namespace cartographer {
|
|
namespace mapping {
|
|
|
|
void TrajectoryConnectivityState::Add(const int trajectory_id) {
|
|
connected_components_.Add(trajectory_id);
|
|
}
|
|
|
|
void TrajectoryConnectivityState::Connect(const int trajectory_id_a,
|
|
const int trajectory_id_b,
|
|
const common::Time time) {
|
|
if (TransitivelyConnected(trajectory_id_a, trajectory_id_b)) {
|
|
// The trajectories are transitively connected, i.e. they belong to the same
|
|
// connected component. In this case we only update the last connection time
|
|
// of those two trajectories.
|
|
auto sorted_pair = std::minmax(trajectory_id_a, trajectory_id_b);
|
|
if (last_connection_time_map_[sorted_pair] < time) {
|
|
last_connection_time_map_[sorted_pair] = time;
|
|
}
|
|
} else {
|
|
// The connection between these two trajectories is about to join to
|
|
// connected components. Here we update all bipartite trajectory pairs for
|
|
// the two connected components with the connection time. This is to quickly
|
|
// change to a more efficient loop closure search (by constraining the
|
|
// search window) when connected components are joined.
|
|
std::vector<int> component_a =
|
|
connected_components_.GetComponent(trajectory_id_a);
|
|
std::vector<int> component_b =
|
|
connected_components_.GetComponent(trajectory_id_b);
|
|
for (const auto id_a : component_a) {
|
|
for (const auto id_b : component_b) {
|
|
auto id_pair = std::minmax(id_a, id_b);
|
|
last_connection_time_map_[id_pair] = time;
|
|
}
|
|
}
|
|
}
|
|
connected_components_.Connect(trajectory_id_a, trajectory_id_b);
|
|
}
|
|
|
|
bool TrajectoryConnectivityState::TransitivelyConnected(
|
|
const int trajectory_id_a, const int trajectory_id_b) const {
|
|
return connected_components_.TransitivelyConnected(trajectory_id_a,
|
|
trajectory_id_b);
|
|
}
|
|
|
|
std::vector<std::vector<int>> TrajectoryConnectivityState::Components() const {
|
|
return connected_components_.Components();
|
|
}
|
|
|
|
common::Time TrajectoryConnectivityState::LastConnectionTime(
|
|
const int trajectory_id_a, const int trajectory_id_b) {
|
|
const auto sorted_pair = std::minmax(trajectory_id_a, trajectory_id_b);
|
|
return last_connection_time_map_[sorted_pair];
|
|
}
|
|
|
|
} // namespace mapping
|
|
} // namespace cartographer
|