cartographer源码分析(49)-mapping-odometry_state_tracker.h

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文件:dometry_state_tracker.h#ifndef CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_#define CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_#include <deque>#include "cartographer/common/time.h"#include "cartographer/transform/rigid_transform.h"namespace cartographer {namespace mapping {/*.lua设置：imu_gravity_time_constant = 10.,num_odometry_states = 1000,OdometryState类含3个数据成员1,time，时间2,Rigid3d，里程计的位置3,Rigid3d，状态位置*/struct OdometryState {  OdometryState(common::Time time, const transform::Rigid3d& odometer_pose,                const transform::Rigid3d& state_pose);  OdometryState() {}  common::Time time = common::Time::min();  transform::Rigid3d odometer_pose = transform::Rigid3d::Identity();  transform::Rigid3d state_pose = transform::Rigid3d::Identity();};/*OdometryStateTracker:记录跟踪里程计的多个状态类,maxsize :window_size含义2个数据成员1,OdometryStates，记录多个里程计状态，是一个双端队列deque2,window_size_,滑动窗大小,即队列大小成员函数：1，构造函数初始化滑动窗大小.2，AddOdometryState()添加一个新的里程计状态，若deque已满则删除旧有的States*/// Keeps track of the odometry states by keeping sliding window over some// number of them.class OdometryStateTracker { public:  using OdometryStates = std::deque<OdometryState>;  explicit OdometryStateTracker(int window_size);  const OdometryStates& odometry_states() const;/*添加新的里程计状态,超出滑动窗大小时,旧的删除*/  // Adds a new 'odometry_state' and makes sure the maximum number of previous  // odometry states is not exceeded.  void AddOdometryState(const OdometryState& odometry_state);  // Returns true if no elements are present in the odometry queue.  bool empty() const;  // Retrieves the most recent OdometryState. Must not be called when empty.  const OdometryState& newest() const; private:  OdometryStates odometry_states_;  size_t window_size_;};}  // namespace mapping}  // namespace cartographer#endif  // CARTOGRAPHER_MAPPING_ODOMETRY_STATE_TRACKER_H_

dometry_state_tracker.cc#include "cartographer/mapping/odometry_state_tracker.h"#include "cartographer/transform/rigid_transform.h"namespace cartographer {namespace mapping {OdometryState::OdometryState(const common::Time time,                             const transform::Rigid3d& odometer_pose,                             const transform::Rigid3d& state_pose)    : time(time), odometer_pose(odometer_pose), state_pose(state_pose) {}OdometryStateTracker::OdometryStateTracker(const int window_size)    : window_size_(window_size) {  CHECK_GT(window_size, 0);}const OdometryStateTracker::OdometryStates&OdometryStateTracker::odometry_states() const {  return odometry_states_;}//添新删旧void OdometryStateTracker::AddOdometryState(    const OdometryState& odometry_state) {  odometry_states_.push_back(odometry_state);  while (odometry_states_.size() > window_size_) {    odometry_states_.pop_front();  }}bool OdometryStateTracker::empty() const { return odometry_states_.empty(); }//返回最后一个const OdometryState& OdometryStateTracker::newest() const {  return odometry_states_.back();}}  // namespace mapping}  // namespace cartographer

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* http://www.jianshu.com/u/9e38d2febec1
* https://zhuanlan.zhihu.com/learnmoreonce
* http://blog.csdn.net/learnmoreonce
* slam源码分析微信公众号:slamcode

注释版源码：https://github.com/learnmoreonce/cartographer