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localization/ndt_scan_matcher/src/map_update_module.cpp

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Original file line numberDiff line numberDiff line change
@@ -15,8 +15,8 @@
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#include "ndt_scan_matcher/map_update_module.hpp"
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MapUpdateModule::MapUpdateModule(
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rclcpp::Node * node, std::mutex * ndt_ptr_mutex,
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NdtPtrType & ndt_ptr, HyperParameters::DynamicMapLoading param)
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rclcpp::Node * node, std::mutex * ndt_ptr_mutex, NdtPtrType & ndt_ptr,
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HyperParameters::DynamicMapLoading param)
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: ndt_ptr_(ndt_ptr),
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ndt_ptr_mutex_(ndt_ptr_mutex),
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logger_(node->get_logger()),
@@ -32,7 +32,7 @@ MapUpdateModule::MapUpdateModule(
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secondary_ndt_ptr_.reset(new NdtType);
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if (ndt_ptr_) {
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RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "Attempt to update a null NDT pointer.");
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RCLCPP_ERROR_STREAM_THROTTLE(logger_, *clock_, 1000, "Attempt to update a null NDT pointer.");
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*secondary_ndt_ptr_ = *ndt_ptr_;
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}
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@@ -130,8 +130,8 @@ void MapUpdateModule::update_ndt(const geometry_msgs::msg::Point & position, Ndt
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status = result.wait_for(std::chrono::seconds(1));
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}
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auto& maps_to_add = result.get()->new_pointcloud_with_ids;
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auto& map_ids_to_remove = result.get()->ids_to_remove;
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auto & maps_to_add = result.get()->new_pointcloud_with_ids;
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auto & map_ids_to_remove = result.get()->ids_to_remove;
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RCLCPP_INFO(
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logger_, "Update map (Add: %lu, Remove: %lu)", maps_to_add.size(), map_ids_to_remove.size());

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