Use AccumulatedRangeDataCallback for trajectory states #556
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ojura
commented
Oct 25, 2017
| last_range_data->returns, | ||
| (last_constant_data->local_pose | ||
| // THIS IS CURRENTLY BROKEN FOR 3D. THE FOLLOWING MULTIPLICATION | ||
| // SHOULD BE APPLIED ONLY FOR 2D! |
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As noted in the code comment. The range data in 2D and 3D does not currently have the same relationship with last_constant_data->local_pose.
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This is a bad idea. The only reason for the existence of the gravity aligned frame is that it is necessary to express certain rigid transforms using Rigid2. Other than that, it should not be used.
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I am aware it is bad idea, we need to discuss what to change in libcartographer to resolve this.
wally-the-cartographer
pushed a commit
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Nov 16, 2017
Replaces #556. Use `LocalSlamResultCallback` cartographer-project/cartographer#574 instead of `PoseEstimate`.
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Follows cartographer-project/cartographer#574