carographer流程

node_main.cc 93   Run启动
              58   Node初始化
              64   node.StartTrajectoryWithDefaultTopics(trajectory_options);

node.cc       517 StartTrajectoryWithDefaultTopics
              520 AddTrajectory(options, DefaultSensorTopics());
              335 AddTrajectory
              340 map_builder_bridge_.AddTrajectory(expected_sensor_ids, options);

map_builder_bridge.cc 120 AddTrajectory
124 const int trajectory_id = map_builder_->AddTrajectoryBuilder
130 输出创建轨迹trajectory_id

map_builder_interface.h 54 虚函数AddTrajectoryBuilder
map_builder.h            45 重写虚函数AddTrajectoryBuilder
map_builder.cc           98 重写虚函数AddTrajectoryBuilder
                         102 trajectory_id = trajectory_builders_.size()
                         121 local_trajectory_builder = common::make_unique<LocalTrajectoryBuilder2D>(trajectory_options.trajectory_builder_2d_options(),SelectRangeSensorIds(expected_sensor_ids));
local_trajectory_builder_2d.cc   36 构造函数active_submaps_(options.submaps_options()),
submap_2d.cc             129 构造函数ActiveSubmaps2D
                         134 AddSubmap(Eigen::Vector2f::Zero());添加第一个submap
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collator_interface.h      54    虚函数AddSensorData
                          49    虚函数FinishTrajectory(int trajectory_id)
trajectory_collator.h     49    重写虚函数 AddSensorData
                          47    重写虚函数FinishTrajectory
collator.cc               36    重写虚函数Collator::FinishTrajectory(const int trajectory_id)
                          42    重写虚函数void Collator::AddSensorData(const int trajectory_id,std::unique_ptr<Data> data)
ordered_multi_queue.cc    54    MarkQueueAsFinished   60    Dispatch()
                          63    Add                   64    Dispatch()
                          92    Dispatch()
                          124   const common::Time common_start_time =GetCommonStartTime(next_queue_key.trajectory_id);
                          161   GetCommonStartTime(const int trajectory_id)
                          172   输出为轨迹0提供好传感器的时间

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sensor_bridge.cc        64    HandleOdometryMessage    69 trajectory_builder_->AddSensorData
                        75    HandleNavSatFixMessage   79 trajectory_builder_->AddSensorData
                        101   HandleLandmarkMessage    104 trajectory_builder_->AddSensorData
                        137   HandleImuMessage         141 trajectory_builder_->AddSensorData
                        222   HandleRangefinder        228 trajectory_builder_->AddSensorData
trajectory_builder_interface.h   96-107 虚函数AddSensorData
global_trajectory_builder.cc    52/94/103/113   虚函数重载AddSensorData
global_trajectory_builder.h     33/39 CreateGlobalTrajectoryBuilder2D/CreateGlobalTrajectoryBuilder3D
map_builder.cc          129/114 CreateGlobalTrajectoryBuilder2D/CreateGlobalTrajectoryBuilder3D
collated_trajectory_builder.cc 33 构造函数CollatedTrajectoryBuilder,继承TrajectoryBuilderInterface
trajectory_builder_interface.h 48 类定义TrajectoryBuilderInterface
map_builder.cc          126/111 trajectory_builders_.push_back
                        98      AddTrajectoryBuilder
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global_trajectory_builder.cc    52/94/103/113   虚函数重载AddSensorData
                                52 AddSensorData 58 local_trajectory_builder_->AddRangeData
                                86 AddSensorData 89 local_trajectory_builder_->AddImuData(imu_data); 91 pose_graph_->AddImuData(trajectory_id_, imu_data);
                                94 AddSensorData 98 local_trajectory_builder_->AddOdometryData(odometry_data); 100 pose_graph_->AddOdometryData(trajectory_id_, odometry_data);

map_builder.cc                  119 std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder;
local_trajectory_builder_2d.h   71 AddRangeData
                                74 AddImuData
                                75 AddOdometryData
local_trajectory_builder_2d.cc 112 range_data_collator_.AddRangeData(sensor_id, unsynchronized_data);\
                                288 extrapolator_->AddImuData(imu_data);                              /初始化extrapolator_
                                298 extrapolator_->AddOdometryData(odometry_data);

---->
range_data_collator.cc          28   AddRangeData
pose_extrapolator.cc            91   AddImuData
                                98   AddOdometryData
*********************************************************************************************************************************************************
collated_trajectory_builder.cc   56   HandleCollatedSensorData
                                 46   回调函数HandleCollatedSensorData
collator_interface.h             43   AddTrajectory
trajectory_collator.h            43   AddTrajectory
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submap_2d.cc                     187 输出添加submap信息
                                 177 AddSubmap
                                 148 AddSubmap(range_data.origin.head<2>());
                                 143 InsertRangeData
local_trajectory_builder_2d.cc   266 active_submaps_.InsertRangeData(range_data_in_local);
                                 251 InsertIntoSubmap
                                 240 InsertIntoSubmap(time, range_data_in_local, gravity_aligned_range_data,pose_estimate, gravity_alignment.rotation());
                                 210 AddAccumulatedRangeData
                                 199 AddAccumulatedRangeData
                                 108 AddRangeData
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constraint_builder_2d.cc         281 输出约束信息
                                 270 RunWhenDoneCallback()
                                 154 设置回调函数when_done_task_->SetWorkItem([this] { RunWhenDoneCallback(); });
                                 146 WhenDone
pose_graph_2d.cc                 304 constraint_builder_.WhenDone
                                 384 constraint_builder_.WhenDone
                                 410 constraint_builder_.WhenDone
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optimization_problem_2d.cc       306 LOG(INFO) << summary.FullReport();
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constraint_builder_2d.cc         266 LOG(INFO) << info.str();
                                 180 ComputeConstraint
                                 97 ComputeConstraint    75   MaybeAddConstraint
                                 122 ComputeConstraint    107 MaybeAddGlobalConstraint

pose_graph_2d.cc                 214 constraint_builder_.MaybeAddConstraint
                                 219 constraint_builder_.MaybeAddGlobalConstraint
                                 192 ComputeConstraint
                                 276 ComputeConstraint(node_id, submap_id_data.id);
                                 235 ComputeConstraintsForNode
                                 131 ComputeConstraintsForNode(node_id, insertion_submaps,newly_finished_submap);
                                 103 AddNode
local_slam_result_2d.cc          39   AddNode(std::make_shared<const mapping::TrajectoryNode::Data>   29    AddToPoseGraph
global_trajectory_builder.cc     68   auto node_id = pose_graph_->AddNode                             52    AddSensorData
--->
global_trajectory_builder.cc     122 local_slam_result_data->AddToPoseGraph(trajectory_id_, pose_graph_);
                                 118 虚函数重载AddLocalSlamResultData
trajectory_builder_interface.h   111 虚函数 AddLocalSlamResultData
local_slam_result_2d.cc          25   trajectory_builder->AddLocalSlamResultData
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