cartographer_ learn_ 18optimization problem 2D introduction and management of connection relationship between tracks

Continued from the previous chapter Last We discussed how the backend stores nodes and subgraphs, and what is stored in the stored procedures of nodes and subgraphs. In the storage of the subgraph, a pointer to the submap and a set are stored to record the nodes associated with the subgraph. The nodes store the Data structure and the pose ...

Posted on Sat, 04 Sep 2021 21:35:20 -0400 by drewbee