cartographer不经过线程池,直接的删除路径
2021/4/19 18:29:44
本文主要是介绍cartographer不经过线程池,直接的删除路径,对大家解决编程问题具有一定的参考价值,需要的程序猿们随着小编来一起学习吧!
1-首先是结束建图路径
void PoseGraph2D::FinishTrajectory(const int trajectory_id) { /* AddWorkItem([this, trajectory_id]() LOCKS_EXCLUDED(mutex_) { absl::MutexLock locker(&mutex_); CHECK(!IsTrajectoryFinished(trajectory_id)); data_.trajectories_state[trajectory_id].state = TrajectoryState::FINISHED; for (const auto& submap : data_.submap_data.trajectory(trajectory_id)) { //LOG(INFO) << "Peak.ding data_.submap_data 15"; data_.submap_data.at(submap.id).state = SubmapState::kFinished; } return WorkItem::Result::kRunOptimization; }); */ absl::MutexLock locker(&mutex_); CHECK(!IsTrajectoryFinished(trajectory_id)); data_.trajectories_state[trajectory_id].state = TrajectoryState::FINISHED; for (const auto& submap : data_.submap_data.trajectory(trajectory_id)) { //LOG(INFO) << "Peak.ding data_.submap_data 15"; data_.submap_data.at(submap.id).state = SubmapState::kFinished; } }
2-然后是删除路径
void PoseGraph2D::DeleteTrajectory(const int trajectory_id) { { absl::MutexLock locker(&mutex_); auto it = data_.trajectories_state.find(trajectory_id); if (it == data_.trajectories_state.end()) { LOG(WARNING) << "Skipping request to delete non-existing trajectory_id: " << trajectory_id; return; } it->second.deletion_state = InternalTrajectoryState::DeletionState::SCHEDULED_FOR_DELETION; } /* AddWorkItem([this, trajectory_id]() LOCKS_EXCLUDED(mutex_) { absl::MutexLock locker(&mutex_); CHECK(data_.trajectories_state.at(trajectory_id).state != TrajectoryState::ACTIVE); CHECK(data_.trajectories_state.at(trajectory_id).state != TrajectoryState::DELETED); CHECK(data_.trajectories_state.at(trajectory_id).deletion_state == InternalTrajectoryState::DeletionState::SCHEDULED_FOR_DELETION); data_.trajectories_state.at(trajectory_id).deletion_state = InternalTrajectoryState::DeletionState::WAIT_FOR_DELETION; //return WorkItem::Result::kDoNotRunOptimization; return WorkItem::Result::kRunOptimization; //Peak.ding }); */ // okagv CHECK(data_.trajectories_state.at(trajectory_id).state != TrajectoryState::ACTIVE); CHECK(data_.trajectories_state.at(trajectory_id).state != TrajectoryState::DELETED); CHECK(data_.trajectories_state.at(trajectory_id).deletion_state == InternalTrajectoryState::DeletionState::SCHEDULED_FOR_DELETION); data_.trajectories_state.at(trajectory_id).deletion_state = InternalTrajectoryState::DeletionState::WAIT_FOR_DELETION; DeleteTrajectoriesIfNeeded(); }
3-注释原来DeleteTrajectoriesIfNeeded()执行的位置,会有bug,相应修改即可。
这篇关于cartographer不经过线程池,直接的删除路径的文章就介绍到这儿,希望我们推荐的文章对大家有所帮助,也希望大家多多支持为之网!
- 2024-06-30uniAPP 实现全屏左右滚动滚动的效果-icode9专业技术文章分享
- 2024-06-30如何在本地使用授权或插件-icode9专业技术文章分享
- 2024-06-30伪静态规则配置方法汇总-icode9专业技术文章分享
- 2024-06-29易优CMS安装常见问题汇总-icode9专业技术文章分享
- 2024-06-28易优新手必读安装教程-icode9专业技术文章分享
- 2024-06-28忘记eyoucms后台密码怎么办?-icode9专业技术文章分享
- 2024-06-26终极指南:Scrum中如何设置需求优先级
- 2024-06-26AI大模型企业应用实战(25)-为Langchain Agent添加记忆功能
- 2024-06-26小白家庭 nas 搭建方案-icode9专业技术文章分享
- 2024-06-23AI大模型企业应用实战(14)-langchain的Embedding