Renames expect_imu to use_imu. (cartographer-project#24)

xubingyue · Sep 8, 2016 · 83a29df · 83a29df
1 parent fc166fd
commit 83a29df
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Showing 3 changed files with 6 additions and 8 deletions.
diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -54,7 +54,7 @@ proto::LocalTrajectoryBuilderOptions CreateLocalTrajectoryBuilderOptions(
           parameter_dictionary->GetDictionary("pose_tracker").get());
   *options.mutable_submaps_options() = CreateSubmapsOptions(
       parameter_dictionary->GetDictionary("submaps").get());
-  options.set_expect_imu_data(parameter_dictionary->GetBool("expect_imu_data"));
+  options.set_use_imu_data(parameter_dictionary->GetBool("use_imu_data"));
   return options;
 }
 
@@ -148,7 +148,7 @@ std::unique_ptr<LocalTrajectoryBuilder::InsertionResult>
 LocalTrajectoryBuilder::AddHorizontalLaserFan(
     const common::Time time, const sensor::LaserFan3D& laser_fan) {
   // Initialize pose tracker now if we do not ever use an IMU.
-  if (!options_.expect_imu_data()) {
+  if (!options_.use_imu_data()) {
     InitializePoseTracker(time);
   }
 
@@ -236,9 +236,7 @@ LocalTrajectoryBuilder::pose_estimate() const {
 void LocalTrajectoryBuilder::AddImuData(
     const common::Time time, const Eigen::Vector3d& linear_acceleration,
     const Eigen::Vector3d& angular_velocity) {
-  CHECK(options_.expect_imu_data())
-      << "An IMU packet was added, but the IMU is not in the "
-         "sensor_configuration.";
+  CHECK(options_.use_imu_data()) << "An unexpected IMU packet was added.";
 
   InitializePoseTracker(time);
   pose_tracker_->AddImuLinearAccelerationObservation(time, linear_acceleration);

diff --git a/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto b/cartographer/mapping_2d/proto/local_trajectory_builder_options.proto
@@ -48,6 +48,6 @@ message LocalTrajectoryBuilderOptions {
   optional kalman_filter.proto.PoseTrackerOptions pose_tracker_options = 10;
   optional mapping_2d.proto.SubmapsOptions submaps_options = 11;
 
-  // True if an IMU is configured in the sensor data.
-  optional bool expect_imu_data = 12;
+  // True if IMU data should be expected and used.
+  optional bool use_imu_data = 12;
 }
diff --git a/configuration_files/trajectory_builder_2d.lua b/configuration_files/trajectory_builder_2d.lua
@@ -13,7 +13,7 @@
 -- limitations under the License.
 
 TRAJECTORY_BUILDER_2D = {
-  expect_imu_data = true,
+  use_imu_data = true,
   horizontal_laser_min_z = -0.8,
   horizontal_laser_max_z = 2.,
   horizontal_laser_voxel_filter_size = 0.025,