37 lines
1.8 KiB
C#
37 lines
1.8 KiB
C#
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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namespace CartographerSharp.Mapping.Internal;
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/// <summary>
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/// Corresponds to C++ <c>internal/global_trajectory_builder.cc</c> (single file in <c>internal/</c>).
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/// <para>
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/// C++ has one template class <c>GlobalTrajectoryBuilder<LocalTrajectoryBuilder, PoseGraph></c>
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/// and two factory functions: <c>CreateGlobalTrajectoryBuilder2D</c>, <c>CreateGlobalTrajectoryBuilder3D</c>.
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/// </para>
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/// <para>
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/// C# has no templates, so the logic is split into two classes that mirror the template instantiations:
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/// <list type="bullet">
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/// <item><c>GlobalTrajectoryBuilder2D</c> in <c>Internal/2D/GlobalTrajectoryBuilder2D.cs</c> — corresponds to <c>GlobalTrajectoryBuilder<LocalTrajectoryBuilder2D, PoseGraph2D></c></item>
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/// <item><c>GlobalTrajectoryBuilder3D</c> in <c>Internal/3D/GlobalTrajectoryBuilder3D.cs</c> — corresponds to <c>GlobalTrajectoryBuilder<LocalTrajectoryBuilder3D, PoseGraph3D></c></item>
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/// </list>
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/// Creation is performed in <see cref="MapBuilder.AddTrajectoryBuilder"/>, equivalent to C++ MapBuilder::AddTrajectory calling CreateGlobalTrajectoryBuilder2D/3D.
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/// </para>
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/// </summary>
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public static class GlobalTrajectoryBuilder
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{
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}
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