cartographer源码分析(47)-mapping-id.h

slamcode

于 2017-07-30 22:44:04 发布

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分类专栏： cartographer源码分析

本文链接：https://blog.youkuaiyun.com/learnmoreonce/article/details/76408277

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文件:id.h

#ifndef CARTOGRAPHER_MAPPING_ID_H_
#define CARTOGRAPHER_MAPPING_ID_H_

#include <algorithm>
#include <ostream>
#include <tuple>
#include <vector>

namespace cartographer {
namespace mapping {

/*
每一个轨迹trajectory上有多个节点node。
如何唯一的表达这些节点node？节点标号:轨迹id+{0,1,2,...}
*/
// Uniquely identifies a trajectory node using a combination of a unique
// trajectory ID and a zero-based index of the node inside that trajectory.
struct NodeId {
  int trajectory_id;
  int node_index;

//比较<符号，成员函数
  bool operator<(const NodeId& other) const {
    return std::forward_as_tuple(trajectory_id, node_index) <
           std::forward_as_tuple(other.trajectory_id, other.node_index);
  }
};