--- /dev/fd/63 2020-03-07 11:22:35.395827426 +0100 +++ /dev/fd/62 2020-03-07 11:22:35.395827426 +0100 @@ -15,6 +15,8 @@ =========================== ================================ ! @$ +?(|$ +@$" ^$*+?.([%- @$$A $@333333 @@ -33,6 +35,7 @@ %04u-%02u-%02u_%02uh%02um%02us *@0C 0 != function->num_residuals() +0N]( 0NB+0 0x%llx 10CMsgClient @@ -51,15 +54,13 @@ 19DeviceMapInfoParams 19DeviceMapPlanParams '1@f -1N-$ -1Nr% ^1 p 1 == reference_counts_.at(key) 1 == reference_counts_.count(key) 1) residual_block is uninitialised and points to a random area in memory. 1.txt 1 <= value -2.0.1.190904_Alpha52 +2.0.1.190904_Alpha63 20CleanOrderPerference 20CleanOrderPlanParams 20DeviceMultiMapParams @@ -149,7 +150,6 @@ 4cartographer/common/proto/ceres_solver_options.proto 4cartographer/common/proto/ceres_solver_options.proto" 4cartographer/mapping/proto/map_builder_options.proto -4Cx' % 4d % 8e % 3.2e % 3.2e % 3.2e % 3.2e % 3.2e % 4d % 3.2e % 3.2e % 4d: f:% 8e d:% 3.2e g:% 3.2e h:% 3.2e s:% 3.2e e:% 3d it:% 3.2e tt:% 3.2e 4@TR' @@ -164,6 +164,7 @@ 7cartographer/mapping/proto/scan_matching_progress.proto 7CThread {7NG +?8A$ 8cartographer/mapping/proto/trajectory_connectivity.proto 8initial_pose_estimate_rotation_delta_cost_functor_weight ! @^8U)zj @@ -183,6 +184,7 @@ acceleration_scale = 7e4, access accidentally use the wrong parameter block or parameterization? +accord with accpet new tcp coming ! acc_x = %f .... acc_y = %f .... @@ -233,8 +235,6 @@ __aeabi_unwind_cpp_pr1 aging_auto.ini aging.ini -.AH? -Al # ALFA = 8.000000e-01 ALFA = 8.000000e-01 algorithm_version.ini @@ -242,8 +242,11 @@ all area door size:%d all_area_line_deque-size:%d all_area_lines_size:%d +all domain pose size:%d </AllFlags> <AllFlags> +all_new_mergedeque.at(i) = %s +all new mergedeque:size = %d . Allocating Allocating values array with allow continuation. @@ -413,9 +416,9 @@ basic_string::substr battery_print_threshold BB`0 - BBD - BBDz BBh + BBL + BBLz BBpP B"B TrajectoryConnectivityOuterClass BBtv @@ -508,7 +511,6 @@ bytes. bzero '%c' -'^{c =[C] %c%02d%02d %02d:%02d:%02d.%06d %5u %s:%d] RAW: CActionArc2State @@ -1123,6 +1125,8 @@ [CAppCornersCleanState] handleWithRoomsClean room_id: %d i: %d [CAppCornersCleanState] handleWithRoomsClean room_num > 50 [CAppCornersCleanState] handleWithRoomsClean room_num: %d +[CAppCornersCleanState] handleXiaoAiControlReq ctrl_value %d clean_type %d! +[CAppCornersCleanState] handleXiaoAiControlReq getSendAppMode %d clean_type %d! [CAppCornersCleanState] has clean plan %s! [CAppCornersCleanState] has customer plan %s! [CAppCornersCleanState] isRobotBroken current task is go home task %d @@ -1351,6 +1355,8 @@ [CAppIdleState] getFirstChargeFlag false! [CAppIdleState] getFirstChargeFlag map id %d! [CAppIdleState] getLoadSCchemeFileStateController is true! +[CAppIdleState] getRSFaultData big_box error +[CAppIdleState] getRSFaultData two_in_one box error [CAppIdleState] handleGlobalClean auto_cmd %d! [CAppIdleState] handleGlobalClean Receive unknow command %d! [CAppIdleState] last exception is none record_exception_code != EXCEPTION_NONE! @@ -1360,6 +1366,10 @@ [CAppIdleState] m_change_from_pause_when_charge_count_down end! [CAppIdleState] m_detect_user_charge_state %d! [CAppIdleState] m_first_count_down again! +[CAppIdleState] playChargeSoun big_box +[CAppIdleState] playChargeSoun two_in_one box +[CAppIdleState] playChargingSound big_box +[CAppIdleState] playChargingSound two_in_one box [CAppIdleState] Play sound charging! [CAppIdleState] processDetectUserCharge enter DETECT_USER_CHARGE_SAMPLE_DOCK! [CAppIdleState] processDetectUserCharge enter MODE_STATE_FAILED DETECT_CHARGE_NONE! @@ -1424,6 +1434,8 @@ [CAppLocalCleanState] handlePauseCurrentClean %d! [CAppLocalCleanState] handleRemoteGoCharge mode %d! [CAppLocalCleanState] handleScrewClean Receive unknow command %d! +[CAppLocalCleanState] handleXiaoAiControlReq ctrl_value %d clean_type %d! +[CAppLocalCleanState] handleXiaoAiControlReq getSendAppMode %d clean_type %d! [CAppLocalCleanState] has clean plan %s! [CAppLocalCleanState] has customer plan %s! [CAppLocalCleanState] m_clean_task_info size: %d! @@ -1762,6 +1774,8 @@ [CAppNavigationState] handleNavigationMode %d! target %s [CAppNavigationState] handleNavigationMode Receive unknow command %d! [CAppNavigationState] handleRemoteGoCharge mode %d! +[CAppNavigationState] handleXiaoAiControlReq ctrl_value %d clean_type %d! +[CAppNavigationState] handleXiaoAiControlReq getSendAppMode %d clean_type %d! [CAppNavigationState] has clean plan %s! [CAppNavigationState] has customer plan %s! [CAppNavigationState] idle state battery full! @@ -2016,12 +2030,15 @@ [CBlowerControl] getCurrentSpeed getBlowerCurrent %f m_desired_speed %d m_current_speed %d m_enable_control_again %d! speed %d getActualSpeed %d [CBlowerControl] getCurrentSpeed m_desired_speed %d m_current_speed %d speed %d! [CBlowerControl] m_last_set_pwm %d +[CBoxExceptionDetect] boxInstallDustBox:%d %d! [CBrushDetection] erro case %d, control brush %d! [CBumperOneExceptionDetect] detectExceptionTiggerIng BUMPER_EXCEPTION_FREE_ENTER ! [CBumperOneExceptionDetect] setEnableBumper 20000! [CBumperOneExceptionDetect] setEnableBumper true! [CBumperOneExceptionDetect] update! 15s return BUMPER_EXCEPTION_TRIGGER_ENTER [CBumperOneExceptionDetect] update!3s ing,ing,ing m_left_bumper_3s_filter:%f,m_right_bumper_3s_filter:%f,m_left_speed_filter:%f,m_right_speed_filter:%f! +[CButtonControl] 1diabox %d dustbox %d box %d mopping %d! +[CButtonControl] 2diabox %d dustbox %d box %d mopping %d! [CButtonControl] box %d mopping %d! [CButtonControl] button delta too small %d ms [CButtonControl] Current key is dock_key %d! @@ -2029,7 +2046,6 @@ [CButtonControl] Current key is KEY_HAREWARE_UNBOND! [CButtonControl] Current key is KEY_NETWORK_CONFIG! [CButtonControl] Current key is KEY_POWER_OFF! -[CButtonControl] diabox %d dustbox %d box %d mopping %d! [CButtonControl] Enter key down, enter key down end mode! [CButtonControl] Enter system bond first step! [CButtonControl] Finish system bond! @@ -2448,6 +2464,7 @@ [CDomainDivision] Find the last cell end with 4 neighbour [CDomainDivision] Find the last cell start with 4 neighbour [CDomainDivision] Generate area, the confirm door print +CDomainDivision:getConfimedVirtualLine [CDomainDivision] Test comfirm door = %s [CDomainDivision] The all domain chain size = %d [CDomainDivision] The ColorID = %d @@ -2681,6 +2698,8 @@ [CEntityHwdriver] CMD_REQUIRE_IMU_RAW_DATA ! [CEntityHwdriver] CMD_SENSOR ::: sensor_time_diff i = %d, time out %5.2f! [CEntityHwdriver] CMD_VIRWALL_CALIBRATION_STATE state %d! +[CEntityHwdriver] EM_EVEREST_HWDRIVER_DETECT_DUSTBIN_AGAIN +[CEntityHwdriver] EM_EVEREST_HWDRIVER_SET_FIRST_OPEN_PUMP_FLAG %d [CEntityHwdriver] EM_HWDRIVER_BLOWER_SPEED %5.2f! [CEntityHwdriver] EM_HWDRIVER_MASK_BUMPER %d [CEntityHwdriver] EM_HWDRIVER_MASK_VIRWALL %d @@ -2708,23 +2727,29 @@ [CEntityHwdriver] loadLidarVersion %d %s %s! [CEntityHwdriver] m_brush_detection out_desired_speed %f! [CEntityHwdriver] message still too large %d, delete it! -[CEntityHwdriver] Open the water to soak mop +[CEntityHwdriver] open power for check water pumper ! +[CEntityHwdriver] Open the Water to soak mop [CEntityHwdriver] org size %d, delete cmd sensor count is %d, current size %d! [CEntityHwdriver] out_waterpump_desired_speed =%f, expect_water_pump_speed =%f! [CEntityHwdriver] process control set sensor power is %d! [CEntityHwdriver] Process decrease blower = %d [CEntityHwdriver] Process diad box = %d +[CEntityHwdriver] processHwdriverCheckPumpType = %d [CEntityHwdriver] processSetBlower %5.2f! [CEntityHwdriver] processSetBrush %5.2f! [CEntityHwdriver] processSetLidarPower power is %d! [CEntityHwdriver] processSetSystemPowerOFF! +[CEntityHwdriver] processSetWaterPump %5.2f! [CEntityHwdriver] processSleepCmd -[CEntityHwdriver] Process water soak mop = %d +[CEntityHwdriver] Process Water disabel +[CEntityHwdriver] Process Water soak mop = %d [CEntityHwdriver] processWeakup ! +[CEntityHwdriver] processWeakupAck [CEntityHwdriver] Receive sleep feed back! [CEntityHwdriver] Receive system version %s! [CEntityHwdriver] receive unknow message %d [CEntityHwdriver] Receive weakup cmd from stm32! +[CEntityHwdriver] refind air pumper ! [CEntityHwdriver] remote %d! [CEntityHwdriver] Require system version ! [CEntityHwdriver] reset battery flag when rk weakuped from sleep! @@ -3658,6 +3683,7 @@ CommonResult complete_mergedeque.at(i) = %s complete_mergedeque.at(i) = %s +complete merge deque:size = %d compress CompressedPointCloud computations resulted in @@ -3882,9 +3908,11 @@ creatDoorConfirmedInfor:door_points-size:%d create 'CreateClusterGraph(cluster_visibility)' Must be non NULL +createContourChainPoint:chain contour points size:%d createContourChainPoint:door_index:%d createContourChainPoint:door_points.size:%d [createDomainCleanObstacleDeque] I find the SUBSECTION_CLOSED local section +createDoorChainPoint:confirmed_door.size:%d createDoorChainPoint:door_points-size:%d createDoorChainPoint:points_temp-size:%d CreateHessianGraph @@ -3905,6 +3933,8 @@ [creatFirstBlockRetrograde] The map is empty, be care [creatFirstBlock] The section chain is empty, be care creatSplitLinesDoors confirmed_door size:%d +creatVirtualLinesDoors confirmed_door size:%d +creatVirtualLinesDoors: new merge deque:%d CRecordInfo [CRelocationLidar]center_pose*********************** [CRelocationLidar]center_pose.log = %f @@ -3975,6 +4005,7 @@ [CRobotApp] getRSCleanPerferenceData has not water box or water mopping [CRobotApp] getRSCleanPerferenceData has water box and water mopping [CRobotApp] Get sweep and mopping state = %d +[CRobotApp] handleException diabox %d, water box %d dust box %d mop %d [CRobotApp] has clean plan %s! [CRobotApp] has customer plan %s! [CRobotApp] history map state %d %d! @@ -4338,6 +4369,7 @@ CRoomCleanPlan Cross chain:%d cross chain is error +cross contour chain: [CRslidarHandle] angle %5.2f deg, distance is %5.2f mm [CRslidarHandle] angle %5.2f deg, distance is %5.2f m, signal %d [CRslidarHandle] buffer size is %d @@ -4360,6 +4392,8 @@ [CSeekTargetGeneration] The current seek pose = %s [CSeekTargetGeneration] the seek pose is: %s [CSensorUpdate] initialize m_lidar_handle %f +[CSensorUpdate] over to check water pump +[CSensorUpdate] start to check water pump ------------[CSensorUpdate::TConfigParams] ---------------- [CSensorUpdate] Warning lidar is time out %5.2f [CSerialMessageHandle] Cut the file @@ -4498,6 +4532,18 @@ [CTaskBackTraceState] task fail condition ... [CTaskBackTraceState] the area door:%d CTaskBrokenState +[CTaskBrokenState]calculateLeftArea +[CTaskBrokenState]calculateLeftArea:area lines size:%d +[CTaskBrokenState]calculateLeftArea:chain pose empty +[CTaskBrokenState]calculateLeftArea:contour_chain_pose:%d +[CTaskBrokenState]calculateLeftArea:%f +[CTaskBrokenState]calculateLeftArea: go to clean -----1 +[CTaskBrokenState]calculateLeftArea: go to clean -----2 +[CTaskBrokenState]calculateLeftArea: go to clean------2 +[CTaskBrokenState]calculateLeftArea: have map +[CTaskBrokenState]calculateLeftArea:mopping +[CTaskBrokenState]calculateLeftArea: no have map +[CTaskBrokenState]calculateLeftArea:no mopping [CTaskBrokenState] select next dock pose [CTaskBrokenState] The dock deque is empty and dock motion fail [CTaskBrokenState] The m_current_dock_pose = %s @@ -5063,15 +5109,20 @@ [CTaskFindWallState] Change the find wall point to the door ~~!!!!!! [CTaskFindWallState] Create area section chain obstacle [CTaskFindWallState] Create area section door obstacle +[CTaskFindWallState] diad_flag = %d, mop_flag = %d, water_box [CTaskFindWallState]:door line = %s [CTaskFindWallState]:extend door line end pose = %s [CTaskFindWallState]:extend end pose = %s [CTaskFindWallState] Extract wall CTaskFindWallState:generateStartPositionUncleanAreaTargetDeque CTaskFindWallState::judgeLineCrossChain +[CTaskFindWallState] no processWaterSoakMop +[CTaskFindWallState]processRotation +[CTaskFindWallState] processWaterSoakMop--isInitialWaterSoakMop ! [CTaskFindWallState] Reopen the back door finish. [CTaskFindWallState] Reset task [CTaskFindWallState] Set virtual line limit boundary +[CTaskFindWallState] Set water soak mop [CTaskFindWallState] Skip cancel motion [CTaskFindWallState] skip the find wall... when sub section and skip coverage condition [CTaskFindWallState] sub section and right lidar bumper trigger @@ -5602,7 +5653,6 @@ [CTaskPointScrewState] Task Screw Init! CTaskRelocalizationState [CTaskRelocalizationState]CONTROLLER_OBS->getSlam()->getSlamMode() = %d -[CTaskRelocalizationState] diad_flag = %d, mop_flag = %d, water_box [CTaskRelocalizationState] finish relocalization ! [CTaskRelocalizationState] initTask ! [CTaskRelocalizationState] initTask --dont move! @@ -5611,7 +5661,6 @@ [CTaskRelocalizationState] initTask -- start from charge ! [CTaskRelocalizationState] isTaskFail ! [CTaskRelocalizationState] isTaskFail--m_lidar_shelter_flag! -[CTaskRelocalizationState] Need water soak mop [CTaskRelocalizationState] processAwayDock [CTaskRelocalizationState]processBack ! [CTaskRelocalizationState]processConfirm--timeout! @@ -5624,7 +5673,6 @@ [CTaskRelocalizationState]processIcpResult--success! [CTaskRelocalizationState]processIcpResult--timeout! [CTaskRelocalizationState] processMclProcess ! -[CTaskRelocalizationState] processMclProcess--isInitialWaterSoakMop ! [CTaskRelocalizationState] processMclProcess--m_lidar_shelter_flag! [CTaskRelocalizationState]processMclResult-fail [CTaskRelocalizationState]processMclResult-sucess @@ -6846,6 +6894,7 @@ [CVirtualLineGeneration]:Not overlap [CVirtualLineGeneration] Origin all_line_deque = %d [CVirtualLineGeneration]:relation :%d +[CVirtualLineGeneration]:renewNewLine:filter short:%d [CVirtualLineGeneration]:renewNewLine:size = %d [CVirtualLineGeneration] SubSectionArea None direction ------------[CVirtualLineGeneration::TConfigParams] ---------------- @@ -6947,6 +6996,16 @@ [CWallTargetExtraction] The pose is out of the island chain [CWallTargetExtraction] The target cross island chain [CWallTargetExtraction] the target is in island chain +[CWaterPumpControl] controlFirstMode small speed +[CWaterPumpControl] controlIntervalClose idele %f +[CWaterPumpControl] controlIntervalOpen idele %f +[CWaterPumpControl] not water pump +[CWaterPumpControl] pump now %d current %f ,time %f +[CWaterPumpControl]resetWaterPumpDetectFlag +[CWaterPumpControl] speed small left time %f ! +[CWaterPumpControl] water pump +[CWaterPumpControl] waterPumpSoakMopOpenMode small speed +[CWaterPumpControl] water pump start check %f [CWorkingPath] generatePoseFromPauseTask pose %s %s %s! [CWorkingPath] generatePoseFromPauseTask too large judge %f! [CWorkingPath] setPauseRobotPose pause %s %s! @@ -6970,6 +7029,9 @@ CXXABI_ARM_1.3.3 cygwin <\%d> +@d# +:D +?D^! ?d>0Lf>yXh> data /data/misc/wifi/wpa_supplicant.conf @@ -7472,6 +7534,7 @@ fileno file (%p) File(%s) +filter new mergedeque:size = %d filter_time Final % 30e Final area info = @@ -7497,6 +7560,7 @@ Find the same area lines _fini First directory in which configuration files are searched, second is always the Cartographer installation to allow including files from there. +first domain:%d First find the circle chain FirstFindtheCircleChain First infeasible bound is at index: %d. @@ -7712,6 +7776,7 @@ GETUPVAL getupvalue getuservalue +getVirtualLineCloseContourMap g_inMinY:%d, g_inMaxY:%d Given GLIBCXX_3.4 @@ -7792,10 +7857,12 @@ handle Motion Coverage Point--excuse handle Motion Coverage Point Idx handle Motion Coverage Point Idy +handleShortVritualLine split door:%d handleSplitDoor confirmed door size:%d handleSplitDoor confirmeddoor size:%d handleSplitDoor door size:%d handleSplitDoor erase +handleVirtualLineCreatDomain handleVP2PFailDoor: all door size:%d handleVP2PFailDoor: id:%d, door size:%d handleVP2PFailDoor: vp2p fail node size:%d @@ -7907,86 +7974,86 @@ /home/xiaobo/google-slam/glog/src/logging.cc /home/xiaobo/google-slam/glog/src/utilities.cc /home/xiaobo/google-slam/glog/src/vlog_is_on.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/apps/everest-server/everest_server_main.cpp -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/libs/manager/src/RNMessages.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/libs/slam/include/everest/slam/CCartographerSlam.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/libs/slam/src/CCartographerSlam.cpp -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/ceres_solver_options.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/configuration_file_resolver.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/histogram.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/lua_parameter_dictionary.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/math.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/proto/ceres_solver_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/common/thread_pool.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/kalman_filter/odometry_state_tracker.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/kalman_filter/pose_tracker.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/kalman_filter/proto/pose_tracker_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/kalman_filter/unscented_kalman_filter.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/global_trajectory_builder.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/laser_fan_inserter.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/local_trajectory_builder.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/map_limits.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/probability_grid.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/proto/laser_fan_inserter_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/proto/local_trajectory_builder_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/proto/submaps_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/ray_casting.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/ceres_scan_matcher.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/correlative_scan_matcher.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/sparse_pose_graph.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/sparse_pose_graph/constraint_builder.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/sparse_pose_graph.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/sparse_pose_graph/optimization_problem.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_2d/submaps.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/global_trajectory_builder.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/hybrid_grid.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/imu_integration.h -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/kalman_local_trajectory_builder.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/laser_fan_inserter.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/local_trajectory_builder.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/local_trajectory_builder_options.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/motion_filter.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/optimizing_local_trajectory_builder.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/proto/kalman_local_trajectory_builder_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/proto/laser_fan_inserter_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/proto/local_trajectory_builder_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/proto/motion_filter_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/proto/optimizing_local_trajectory_builder_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/proto/submaps_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/scan_matching/ceres_scan_matcher.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/scan_matching/precomputation_grid.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.pb.cc -/home/zhengzf/Desktop/more_mao_branch_xiaomi45/otherlibs/cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options.pb.cc 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+/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/proto/map_builder_options.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/proto/scan_matching_progress.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/proto/sparse_pose_graph_options.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/proto/trajectory_connectivity.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/sparse_pose_graph.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/sparse_pose_graph/proto/optimization_problem_options.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/submaps.h +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/mapping/trajectory_connectivity.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/proto/trajectory.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/sensor/compressed_point_cloud.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/sensor/laser.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/sensor/proto/adaptive_voxel_filter_options.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/sensor/proto/sensor.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/transform/proto/transform.pb.cc +/home/xl/work/git/CRL-200S+/otherlibs/cartographer/transform/transform_interpolation_buffer.cc hook horizontal_laser_max_range horizontal_laser_max_range = 8., @@ -8022,6 +8089,7 @@ IDLEMODE idx_cursor == num_nonzeros idx idy: +I@`f ifconfig wlan0 down If non-empty, HandleCommandLineCompletions() will hijack the process and attempt to do bash-style command line flag completion on this value. If specified, logfiles are written into this directory instead of the default logging directory. @@ -8139,6 +8207,7 @@ Inter-submap x^2 + y^2 residual histogram: interval is empty interval too large +in the domain boundary in the subspace method! Intra-submap theta^2 residual histogram: Intra-submap x^2 + y^2 residual histogram: @@ -8180,7 +8249,6 @@ _IO_output i@p@- I?p@- -I@p@- __ipairs ipairs I?pC- @@ -8315,10 +8383,7 @@ [KOptimizing: Done1. [KOptimizing: Done2. [KOptimizing: Done3. - ""l -:l+ L: -L=@@ L=$0 "@l0 L=0 @@ -8326,7 +8391,7 @@ L>0@- L=00 L=03 -L=0c +L=0b label '%s' already defined on line %d labels/gotos landmarksMap_count = 0 @@ -8346,6 +8411,7 @@ laser_voxel_filter_size laser_voxel_filter_size = 0.15, last domain +last domain:%d last domain meet the requirement last domain not meet the requirement last left encoder @@ -8357,12 +8423,12 @@ last_stm32_time last_yaw l'>B`%> -L=`B LBFGS LBFGS (%d) Lcartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options.proto Lcartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto Lcartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options.proto" +L=d0 ldexp __le left @@ -8386,7 +8452,7 @@ LF_stdHit = 0.20 LF_zHit = 0.95 LF_zRandom = 0.05 -L=h^ +L=he lhs->storage_type() == StorageType() libboost_iostreams.so.1.66.0 libboost_system.so.1.66.0 @@ -8636,6 +8702,8 @@ low_start_battery_threshold low_work_battery_threshold L=p@- +L=pL +L=`R lrint lrotate lround @@ -8810,7 +8878,7 @@ lua_xmove lua_yieldk lV}n -L=XN +L=xc m4>F m_A: magnetic_field @@ -8938,15 +9006,19 @@ m_black_value MbP? MbP?*- -MbP?, +MbP?<; MbP?{ MbP?$ +MbP?0b MbP?333333 MbP?-C MbP?o +MbP?p MbP?p@- -MbP?pC- +MbP?P +MbP?Pd MbP?Q. +MbP?tJ MbP?Y m_broken_clean m_C: @@ -9248,6 +9320,7 @@ N12cartographer9transform5proto8Vector2fE N12cartographer9transform5proto8Vector3dE N12cartographer9transform5proto8Vector3fE +!N(4 N4mrpt4slam27CMetricMapBuilderICPImprove13TConfigParamsE N4mrpt4slam27CMetricMapBuilderICPImproveE N4mrpt5utils12CDynamicGridIhEE @@ -9788,8 +9861,8 @@ __newindex '__newindex' chain too long; possible loop new_length >= input.size() -new_mergedeque.at(i) = %s -new_mergedeque.size = %d +new mergedeque ok id:%d +new mergedeque size:%d new_name new_orientation.x = new_orientation.y = @@ -9825,6 +9898,7 @@ NONLINEAR_CONJUGATE_GRADIENT No non-zero covariance blocks found nonzeros: +no on chain,all new mergedeque = %s -no_openmp No parameter blocks left in the schur complement. No points map in multi-metric map. @@ -9946,6 +10020,7 @@ nups O2A < O2Ap@- +O"A$p O"AP object length is not an integer obs.present() @@ -9989,6 +10064,7 @@ old_state.x = old_state.y = old_state.z = +on chain,all new mergedeque = %s on_chain_expand_length onlyClosestCorrespondences = 1 onlyClosestCorrespondences = 1 @@ -10000,6 +10076,7 @@ only options.num_threads = 1 is supported. Switching onlyUniqueRobust = 0 onlyUniqueRobust = 0 +on the contour opcodes opendir openlog @@ -10088,7 +10165,6 @@ Oz7N %p ! @p@- -"@p@- >p@- ?p@- @p@- @@ -10302,6 +10378,7 @@ `qATPP\l< qJ>^KH> Q>O@S> +q@Pd QRDecomposition QUADRATIC Quaterniond @@ -10312,7 +10389,6 @@ quiet_clean_brush_speed quiet_clean_roll_speed quiet_clean_water_pump_speed -r@@- ~>R' R@)\ r@0@- @@ -10343,6 +10419,7 @@ rayTracing_useDistanceFilter = 0 rbpf config file is not exist! %s rbpf_params.ini +R@-C read readdir reader function must return a string @@ -10420,6 +10497,7 @@ resolution = 0.05, resolution = 0.06 resolution = 2.5000e-02 +resolveNewLine: new_mergedeque.size = %d restart Restarting non-linear conjugate gradients: . Restarting, number of restarts: @@ -10488,6 +10566,7 @@ rows rows.size() == cols.size() rows.size() == values.size() +R@p@- rrotate RS_AUX_CTRL RS_AUX_LIDAR_DATA @@ -10556,6 +10635,7 @@ RS_WEAKUP_CTRL_RSP running Running on machine: +r@x( %s: %s! %.*s @@ -10720,6 +10800,8 @@ [%s] Handle message! cmd_id %d %s, serialno %d __shl shorten_door_distance +short new mergedeque = %s +short new mergedeque:size = %d short_src Show all VLOG(m) messages for m <= this. Overridable by --vmodule. show help on all flags -- same as -help @@ -10886,6 +10968,7 @@ SPARSE_SCHUR specail_hwdrivers.ini split and the chain pose is empty +split door size:%d split line end find -1 split line end find-2 split line start find -1 @@ -11068,7 +11151,6 @@ syslog system system_perfix_number -:t- tab_completion_columns tab_completion_word table @@ -11536,6 +11618,11 @@ Violated constraint: ) violates Armijo sufficient condition, or has passed an virtual float mrpt::slam::CMetricMap::squareDistanceToClosestCorrespondence(float, float) const +VirtualLineClosedDomain:min_boundary_x:%f,min_boundary_y:%f,max_boundary_x:%f,max_boundary_y:%f +VirtualLineClosedDomain:min_x:%f,min_y:%f,max_x:%f,max_y:%f +VirtualLineDomainExtract:confirmed_door.size:%d +VirtualLineDomainExtract:error, not equal +VirtualLineDomainExtract: on chain :%d Virtual method not implemented in derived class. virtual mrpt::slam::CMetricMapBuilderICPImprove::~CMetricMapBuilderICPImprove() virtual void everest::base::CLineSegmentExtraction::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) @@ -11574,9 +11661,9 @@ virtual void everest::planner::CDoorConfirmation::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) virtual void everest::planner::CExploreTargetGeneration::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) virtual void everest::planner::CGlobalSection::readFromStream(mrpt::utils::CStream&, int) -virtual void everest::planner::CHistoryCoverageArea::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) +=virtual void everest::planner::CHistoryCoverageArea::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) virtual void everest::planner::CIslandDoorDelete::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) -=virtual void everest::planner::CLineSmooth::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) +virtual void everest::planner::CLineSmooth::TConfigParams::loadFromConfigFile(const mrpt::utils::CConfigFileBase&, const string&) virtual void everest::planner::CLocalSectionMap::readFromStream(mrpt::utils::CStream&, int) virtual void everest::planner::CLocalSection::readFromStream(mrpt::utils::CStream&, int) =virtual void everest::planner::CObstacleMap::readFromStream(mrpt::utils::CStream&, int) @@ -11617,9 +11704,10 @@ vs. vsnprintf >w-!> +?\W! @w;A -@w;A\* @w;A0@- +@w;Al, wall_distance_weight wall_length_weight @w;Ap@- @@ -11693,7 +11781,7 @@ xuint64 xxint32 .xXnN -XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX +XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX Y@0@- Y@,1 yaw @@ -11723,8 +11811,8 @@ You must call DynamicNumericDiffCostFunction::SetNumResiduals() You must not use COUNTER with non-glog ostream Y@p@- +Y@P; Y@X+ -Y@XY Z 0B Z(0B Z 0D @@ -11739,7 +11827,6 @@ _Z19writeEverestVersionv _Z35protobuf_AddDesc_RNMessages_2eprotov _Z40protobuf_ShutdownFile_RNMessages_2eprotov -Z8! _ZdaPv _ZdlPv _ZdlPvj @@ -16864,6 +16951,7 @@ _ZN7everest10controller10CRobotTask20deleteUnfinishedDataEv _ZN7everest10controller10CRobotTask20getPointFixRollBrushEv _ZN7everest10controller10CRobotTask20preprocessResumeDataERKNS_6motion7TMotionE +_ZN7everest10controller10CRobotTask20setFirstOpenPumpFlagEb _ZN7everest10controller10CRobotTask20setWaterMoppingCleanEi _ZN7everest10controller10CRobotTask20updateSchemeFileInfoEv _ZN7everest10controller10CRobotTask21changeCustomPauseTaskEv @@ -17518,13 +17606,21 @@ _ZN7everest10controller18CTaskFindWallState11executeTaskEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState12getStateNameB5cxx11Ev _ZN7everest10controller18CTaskFindWallState12isTaskFinishEPNS0_10CRobotTaskE +_ZN7everest10controller18CTaskFindWallState13waterInitTaskEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState14m_instance_ptrE _ZN7everest10controller18CTaskFindWallState14reopenBackDoorEPNS0_10CRobotTaskE +_ZN7everest10controller18CTaskFindWallState15processRotationEPNS0_10CRobotTaskE +_ZN7everest10controller18CTaskFindWallState16waterExecuteTaskEPNS0_10CRobotTaskE +_ZN7everest10controller18CTaskFindWallState17setRotationMotionEPNS0_10CRobotTaskEd _ZN7everest10controller18CTaskFindWallState18getChargeFrontPoseEd _ZN7everest10controller18CTaskFindWallState18popCloseWallTargetEPNS0_10CRobotTaskERSt5dequeINS_4base12CRobotPose2DESaIS6_EE +_ZN7everest10controller18CTaskFindWallState19detectDelaySetWaterEPNS0_10CRobotTaskE +_ZN7everest10controller18CTaskFindWallState19executeWaterMoppingEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState19judgeLineCrossChainENS_7planner6CChainERSt5dequeINS2_19CVirtualLineSegmentESaIS5_EE +_ZN7everest10controller18CTaskFindWallState19processWaterSoakMopEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState19setAreaDoorObstacleEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState20setAreaChainObstacleEPNS0_10CRobotTaskE +_ZN7everest10controller18CTaskFindWallState21isInitialWaterSoakMopEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState27generateFindWallTargetDequeEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState27generateNextAreaTargetDequeEPNS0_10CRobotTaskE _ZN7everest10controller18CTaskFindWallState27setVirtualLineLimitBoundaryEPNS0_10CRobotTaskE @@ -17545,6 +17641,7 @@ _ZN7everest10controller19CBoxExceptionDetect18boxInstallWaterBoxEv _ZN7everest10controller19CBoxExceptionDetect18detectMoppingStateEv _ZN7everest10controller19CBoxExceptionDetect19detectCleanBoxStateEv +_ZN7everest10controller19CBoxExceptionDetect22boxInstallWaterDustBinEv _ZN7everest10controller19CBoxExceptionDetect22detectBoxExceptionIdleEv _ZN7everest10controller19CBoxExceptionDetect25getBoxExceptionCodeChargeEv _ZN7everest10controller19CBoxExceptionDetect25getBoxExceptionCodeGlobalEv @@ -17706,6 +17803,7 @@ _ZN7everest10controller20CControllerInterface20clearDockSignalDequeEv _ZN7everest10controller20CControllerInterface20deleteMotionObstacleERKSt5dequeINS_4base12CRobotPose2DESaIS4_EE _ZN7everest10controller20CControllerInterface20resetObstacleGridMapEv +_ZN7everest10controller20CControllerInterface20setFirstOpenPumpFlagEb _ZN7everest10controller20CControllerInterface20setModeIdleOutChargeEv _ZN7everest10controller20CControllerInterface20setNoifyChargeUpdateEv _ZN7everest10controller20CControllerInterface21clearAreaWallObstacleEv @@ -22465,6 +22563,7 @@ _ZN7everest7manager13CAppInterface19setMotorControlTypeEi _ZN7everest7manager13CAppInterface20cancelNavigateTargetEv _ZN7everest7manager13CAppInterface20setDebugNavigateModeENS_4base12CRobotPose2DE +_ZN7everest7manager13CAppInterface21setDetectDustbinAgainEv _ZN7everest7manager13CAppInterface21setSweepMoppingParamsEi _ZN7everest7manager13CAppInterface21setWaterMoppingParamsEi _ZN7everest7manager13CAppInterface23setVirtualWallOperationEi @@ -22712,7 +22811,7 @@ _ZN7everest7manager14CAppMapProcess21updateCoverageMapNew2ERN4mrpt4slam19COccupancyGridMap2DER18SCRobotHistoryPoseS7_ _ZN7everest7manager14CAppMapProcess9setRoomIDERN4mrpt4slam19COccupancyGridMap2DEPii _ZN7everest7manager14CButtonControl10processKeyERNS1_13TKeyReadStateEiiNS1_8TKeyNameE -_ZN7everest7manager14CButtonControl12getButtonKeyERNS_4base13TButtonStructE +_ZN7everest7manager14CButtonControl12getButtonKeyEPNS0_9CRobotAppERNS_4base13TButtonStructE _ZN7everest7manager14CButtonControl17processKeyDownEndERNS1_10TKeyStructE _ZN7everest7manager14CButtonControl18processKeyDownLongERNS1_10TKeyStructE _ZN7everest7manager14CButtonControl19processKeyDownStartERNS1_10TKeyStructE @@ -22924,6 +23023,7 @@ _ZN7everest7manager15CEntityHwdriver26requireMachineFunctionListEv _ZN7everest7manager15CEntityHwdriver26startIMUFactoryCalibrationEv _ZN7everest7manager15CEntityHwdriver27processSetSelfControlParamsERKN4mrpt5utils8CMessageE +_ZN7everest7manager15CEntityHwdriver28processHwdriverCheckPumpTypeERKN4mrpt5utils8CMessageE _ZN7everest7manager15CEntityHwdriver29hwdriverExceptionDetectThreadEPv _ZN7everest7manager15CEntityHwdriver30getVirtualWallCalibrationStateEv _ZN7everest7manager15CEntityHwdriver34startVirtualWallFactoryCalibrationEv @@ -23279,6 +23379,7 @@ _ZN7everest7manager19CAppLocalCleanState20synchControllerStateEPNS0_9CRobotAppE _ZN7everest7manager19CAppLocalCleanState21controlExceptionLightEPNS0_9CRobotAppE _ZN7everest7manager19CAppLocalCleanState22handleButtonShortPressEPNS0_9CRobotAppE +_ZN7everest7manager19CAppLocalCleanState22handleXiaoAiControlReqEPNS0_9CRobotAppEP8CMsgHead _ZN7everest7manager19CAppLocalCleanState22processRobotPoseUpdateEPNS0_9CRobotAppE _ZN7everest7manager19CAppLocalCleanState23DetectBoxExceptionSoundEPNS0_9CRobotAppE _ZN7everest7manager19CAppLocalCleanState23handlePauseCurrentCleanEPNS0_9CRobotAppEP8CMsgHead @@ -23327,6 +23428,7 @@ _ZN7everest7manager19CAppNavigationState20synchControllerStateEPNS0_9CRobotAppE _ZN7everest7manager19CAppNavigationState21controlExceptionLightEPNS0_9CRobotAppE _ZN7everest7manager19CAppNavigationState22handleButtonShortPressEPNS0_9CRobotAppE +_ZN7everest7manager19CAppNavigationState22handleXiaoAiControlReqEPNS0_9CRobotAppEP8CMsgHead _ZN7everest7manager19CAppNavigationState22processRobotPoseUpdateEPNS0_9CRobotAppE _ZN7everest7manager19CAppNavigationState23DetectBoxExceptionSoundEPNS0_9CRobotAppE _ZN7everest7manager19CAppNavigationState23handleGetNavigationDataEPNS0_9CRobotAppEP8CMsgHead @@ -23491,6 +23593,7 @@ _ZN7everest7manager21CAppCornersCleanState20synchControllerStateEPNS0_9CRobotAppE _ZN7everest7manager21CAppCornersCleanState21controlExceptionLightEPNS0_9CRobotAppE _ZN7everest7manager21CAppCornersCleanState22handleButtonShortPressEPNS0_9CRobotAppE +_ZN7everest7manager21CAppCornersCleanState22handleXiaoAiControlReqEPNS0_9CRobotAppEP8CMsgHead _ZN7everest7manager21CAppCornersCleanState23DetectBoxExceptionSoundEPNS0_9CRobotAppE _ZN7everest7manager21CAppCornersCleanState23handleButtonGlobalCleanEPNS0_9CRobotAppE _ZN7everest7manager21CAppCornersCleanState23handlePauseCurrentCleanEPNS0_9CRobotAppEP8CMsgHead @@ -23747,6 +23850,7 @@ _ZN7everest7manager9CRobotApp17startCornersCleanEb _ZN7everest7manager9CRobotApp17startExploreCleanEb _ZN7everest7manager9CRobotApp17startMoppingCleanEb +_ZN7everest7manager9CRobotApp18detectDustbinAgainEv _ZN7everest7manager9CRobotApp18detectLightControlEv _ZN7everest7manager9CRobotApp18getHistoryPoseListEv _ZN7everest7manager9CRobotApp18readUserPerferenceEv @@ -24444,10 +24548,18 @@ _ZN7everest7planner15CDomainDivision20searchLineForNewSeedERSt6vectorIaSaIaEEiiiiRSt5dequeINS0_9PointGridESaIS7_EEii _ZN7everest7planner15CDomainDivision20straightenedDoorLineERSt6vectorINS0_14CCandidateDoorESaIS3_EE _ZN7everest7planner15CDomainDivision20transformPoseToPointERSt5dequeINS_4base12CRobotPose2DESaIS4_EERSt6vectorINS0_9PointGridESaIS9_EE +_ZN7everest7planner15CDomainDivision22createDoorVirtualLinesERSt6vectorINS0_14CCandidateDoorESaIS3_EERS2_INS0_18ConfirmedDoorInforESaIS7_EERSt5dequeINS0_19CVirtualLineSegmentESaISC_EE +_ZN7everest7planner15CDomainDivision22creatVirtualLinesDoorsERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERSt6vectorINS0_14CCandidateDoorESaIS8_EE +_ZN7everest7planner15CDomainDivision22getConfimedVirtualLineERSt6vectorINS0_9PointGridESaIS3_EERS2_INS0_18ConfirmedDoorInforESaIS7_EE +_ZN7everest7planner15CDomainDivision22handleShortVritualLineERSt6vectorINS0_18ConfirmedDoorInforESaIS3_EERSt5dequeINS0_19CVirtualLineSegmentESaIS8_EE _ZN7everest7planner15CDomainDivision23creatDoorConfirmedInforERSt6vectorINS0_14CCandidateDoorESaIS3_EERS2_INS0_18ConfirmedDoorInforESaIS7_EE _ZN7everest7planner15CDomainDivision23getDomainUnicomrelationERSt5dequeINS0_15CAreaGenerationESaIS3_EE _ZN7everest7planner15CDomainDivision24getDoorDomainExpandChainEv +_ZN7everest7planner15CDomainDivision24getVirtualLineDoorDomainERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERSt6vectorINS0_18ConfirmedDoorInforESaIS8_EERS7_INS0_9PointGridESaISC_EE _ZN7everest7planner15CDomainDivision25getSectionChainCenterPoseERKNS0_14CGlobalSectionERSt5dequeINS_4base12CRobotPose2DESaIS7_EE +_ZN7everest7planner15CDomainDivision29getConfimedVirtualLineOnChainERSt6vectorINS0_9PointGridESaIS3_EERS2_INS0_18ConfirmedDoorInforESaIS7_EE +_ZN7everest7planner15CDomainDivision29getShortVirtualLineDoorDomainERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EESt6vectorINS0_18ConfirmedDoorInforESaIS8_EERS7_INS0_9PointGridESaISB_EE +_ZN7everest7planner15CDomainDivision29getVirtualLineCloseContourMapERN4mrpt4slam19COccupancyGridMap2DERSt5dequeINS0_19CVirtualLineSegmentESaIS7_EESA_SA_ _ZN7everest7planner15CDomainDivisionC1Ev _ZN7everest7planner15CDomainDivisionC2Ev _ZN7everest7planner15CDomainDivisionD1Ev @@ -24675,6 +24787,7 @@ _ZN7everest7planner17CDoorChainExtract19getDomainChainColorERSt6vectorINS0_11DomainChainESaIS3_EE _ZN7everest7planner17CDoorChainExtract19handleSamePointNodeERSt6vectorINS0_9PointNodeESaIS3_EEi _ZN7everest7planner17CDoorChainExtract19judgeCrossPointNodeERSt6vectorINS0_9PointNodeESaIS3_EE +_ZN7everest7planner17CDoorChainExtract20createDoorChainPointERSt6vectorINS0_18ConfirmedDoorInforESaIS3_EERS2_INS0_9PointNodeESaIS7_EE _ZN7everest7planner17CDoorChainExtract20createDoorChainPointERSt6vectorINS0_18ConfirmedDoorInforESaIS3_EERS2_INS0_9PointNodeESaIS7_EESA_ _ZN7everest7planner17CDoorChainExtract20handleCrossPointNodeERSt6vectorINS0_9PointNodeESaIS3_EES6_ _ZN7everest7planner17CDoorChainExtract21getDoorNavigationPoseERNS0_14CCandidateDoorESt5dequeINS_4base12CRobotPose2DESaIS6_EERS6_ @@ -24683,11 +24796,16 @@ _ZN7everest7planner17CDoorChainExtract22eliminateConfirmedDoorERSt6vectorINS0_18ConfirmedDoorInforESaIS3_EE _ZN7everest7planner17CDoorChainExtract22generateAreaChainPointERSt6vectorINS0_9PointNodeESaIS3_EERSt5dequeINS0_10ChainInforESaIS8_EE _ZN7everest7planner17CDoorChainExtract22getCrossPointNodeIndexERSt6vectorINS0_9PointNodeESaIS3_EEii +_ZN7everest7planner17CDoorChainExtract23createContourChainPointERSt6vectorINS0_9PointGridESaIS3_EERS2_INS0_9PointNodeESaIS7_EE _ZN7everest7planner17CDoorChainExtract23createContourChainPointERSt6vectorINS0_9PointGridESaIS3_EERS2_INS0_9PointNodeESaIS7_EESA_SA_ _ZN7everest7planner17CDoorChainExtract23getDomainNavigationPoseERSt6vectorINS0_11DomainChainESaIS3_EERS2_INS0_14CCandidateDoorESaIS7_EE _ZN7everest7planner17CDoorChainExtract23updateDoorsBetweenPointERNS0_9PointNodeES3_RSt6vectorIS2_SaIS2_EERKNS0_17CTransformGridMapE +_ZN7everest7planner17CDoorChainExtract23VirtualLineClosedDomainERSt5dequeIS2_INS_4base12CRobotPose2DESaIS4_EESaIS6_EERNS0_19CVirtualLineSegmentERKN4mrpt4slam19COccupancyGridMap2DE +_ZN7everest7planner17CDoorChainExtract24domainPoseOnContourChainERSt5dequeINS_4base12CRobotPose2DESaIS4_EERKN4mrpt4slam19COccupancyGridMap2DE +_ZN7everest7planner17CDoorChainExtract24VirtualLineDomainExtractERSt6vectorINS0_18ConfirmedDoorInforESaIS3_EERS2_INS0_9PointGridESaIS7_EERSt5dequeINS0_19CVirtualLineSegmentESaISC_EERKN4mrpt4slam19COccupancyGridMap2DERKNS0_17CTransformGridMapE _ZN7everest7planner17CDoorChainExtract26putDoorPointToContourChainERSt6vectorINS0_9PointNodeESaIS3_EES6_ _ZN7everest7planner17CDoorChainExtract27handleChainPointCreatDomainERSt6vectorINS0_9PointNodeESaIS3_EERS2_IS5_SaIS5_EERSt5dequeINS0_11DomainInforESaISB_EERKNS0_17CTransformGridMapE +_ZN7everest7planner17CDoorChainExtract28handleVirtualLineCreatDomainERSt6vectorINS0_9PointNodeESaIS3_EERSt5dequeIS7_INS_4base12CRobotPose2DESaIS9_EESaISB_EERKNS0_17CTransformGridMapE _ZN7everest7planner17CDoorChainExtractC1Ev _ZN7everest7planner17CDoorChainExtractC2Ev _ZN7everest7planner17CDoorChainExtractD1Ev @@ -25286,9 +25404,9 @@ _ZN7everest7planner22CVirtualLineDataResume39existNeighbourUnfinishedNavigationLinesERKSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERNS0_14CGlobalSectionERKNS_4base12CRobotPose2DE _ZN7everest7planner22CVirtualLineGeneration10createLineERKNS0_19CVirtualLineSegmentE _ZN7everest7planner22CVirtualLineGeneration10createLineERKNS_4base12CRobotPose2DES5_RKNS0_19CVirtualLineSegmentE -_ZN7everest7planner22CVirtualLineGeneration12renewNewLineERKSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERS5_S8_S8_S8_S8_RKN4mrpt4slam19COccupancyGridMap2DE +_ZN7everest7planner22CVirtualLineGeneration12renewNewLineERKSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERS5_S8_S8_S8_S8_S8_RKN4mrpt4slam19COccupancyGridMap2DE _ZN7everest7planner22CVirtualLineGeneration12setAreaLinesERKSt5dequeINS0_19CVirtualLineSegmentESaIS3_EE -_ZN7everest7planner22CVirtualLineGeneration13createNewLineERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EES6_S6_S6_S6_RNS0_13LineDirectionERKN4mrpt4slam19COccupancyGridMap2DE +_ZN7everest7planner22CVirtualLineGeneration13createNewLineERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EES6_S6_S6_S6_S6_S6_S6_RNS0_13LineDirectionERKN4mrpt4slam19COccupancyGridMap2DE _ZN7everest7planner22CVirtualLineGeneration13getCloseLinesERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERKS3_ _ZN7everest7planner22CVirtualLineGeneration13getMergeLinesERKSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERKS3_ _ZN7everest7planner22CVirtualLineGeneration13TConfigParams18loadFromConfigFileERKN4mrpt5utils15CConfigFileBaseERKNSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEE @@ -25298,6 +25416,7 @@ _ZN7everest7planner22CVirtualLineGeneration13TConfigParamsD1Ev _ZN7everest7planner22CVirtualLineGeneration13TConfigParamsD2Ev _ZN7everest7planner22CVirtualLineGeneration14isBeyondLimitsERKNS_4base12CRobotPose2DES5_dddd +_ZN7everest7planner22CVirtualLineGeneration14resolveNewLineERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EES6_S6_S6_S6_ _ZN7everest7planner22CVirtualLineGeneration15setObstaclePoseERKSt5dequeINS_4base12CRobotPose2DESaIS4_EE _ZN7everest7planner22CVirtualLineGeneration16synchronizeLinesERSt5dequeINS0_19CVirtualLineSegmentESaIS3_EERKS5_ _ZN7everest7planner22CVirtualLineGeneration17getNextAreaTargetERKSt5dequeINS0_19CVirtualLineSegmentESaIS3_EE @@ -25615,6 +25734,7 @@ _ZN7everest9hwdrivers13CSensorUpdate21updateSlipObservationEv _ZN7everest9hwdrivers13CSensorUpdate22getOriginWaterBoxStateEv _ZN7everest9hwdrivers13CSensorUpdate22updateCliffObservationEv +_ZN7everest9hwdrivers13CSensorUpdate23getWaterStateFromFilterEv _ZN7everest9hwdrivers13CSensorUpdate23updateBumperObservationEv _ZN7everest9hwdrivers13CSensorUpdate24updateBatteryObservationEv _ZN7everest9hwdrivers13CSensorUpdate24updateWheelUpObservationEv @@ -25724,11 +25844,18 @@ _ZN7everest9hwdrivers17CEncoderCalculateD0Ev _ZN7everest9hwdrivers17CEncoderCalculateD1Ev _ZN7everest9hwdrivers17CEncoderCalculateD2Ev +_ZN7everest9hwdrivers17CWaterPumpControl10getPumpPwmEv +_ZN7everest9hwdrivers17CWaterPumpControl11getPumpTypeEv +_ZN7everest9hwdrivers17CWaterPumpControl11setPumpTypeEi _ZN7everest9hwdrivers17CWaterPumpControl15controlIdleModeERd +_ZN7everest9hwdrivers17CWaterPumpControl16clearPumpControlEv _ZN7everest9hwdrivers17CWaterPumpControl16controlFirstModeERd +_ZN7everest9hwdrivers17CWaterPumpControl16finishDetectPumpEv _ZN7everest9hwdrivers17CWaterPumpControl16isSoakMopSuccessEv +_ZN7everest9hwdrivers17CWaterPumpControl17setWaterPumpSpeedEdb +_ZN7everest9hwdrivers17CWaterPumpControl18waterCheckPumpTypeERdd _ZN7everest9hwdrivers17CWaterPumpControl19controlIntervalOpenERd -_ZN7everest9hwdrivers17CWaterPumpControl19controlSoakMopStateERd +_ZN7everest9hwdrivers17CWaterPumpControl19controlSoakMopStateEddRd _ZN7everest9hwdrivers17CWaterPumpControl19waterSoakMopEndModeERd _ZN7everest9hwdrivers17CWaterPumpControl20controlIntervalCloseERd _ZN7everest9hwdrivers17CWaterPumpControl20updataWaterPumpSpeedEv @@ -25736,6 +25863,10 @@ _ZN7everest9hwdrivers17CWaterPumpControl20waterSoakMopOpenModeERd _ZN7everest9hwdrivers17CWaterPumpControl21controlWaterPumpSpeedEddRd _ZN7everest9hwdrivers17CWaterPumpControl21waterSoakMopCloseModeERd +_ZN7everest9hwdrivers17CWaterPumpControl23waterPumpSoakMopEndModeERd +_ZN7everest9hwdrivers17CWaterPumpControl24resetWaterPumpDetectFlagEv +_ZN7everest9hwdrivers17CWaterPumpControl24waterPumpSoakMopIdleModeERd +_ZN7everest9hwdrivers17CWaterPumpControl24waterPumpSoakMopOpenModeERd _ZN7everest9hwdrivers17CWaterPumpControlC1Ev _ZN7everest9hwdrivers17CWaterPumpControlC2Ev _ZN7everest9hwdrivers17TMotorStallSensorC1Ev @@ -27962,6 +28093,8 @@ _ZNSt11_Deque_baseIN7everest7planner9CChainMapESaIS2_EE17_M_initialize_mapEj _ZNSt11_Deque_baseIN7everest7planner9PointGridESaIS2_EED1Ev _ZNSt11_Deque_baseIN7everest7planner9PointGridESaIS2_EED2Ev +_ZNSt11_Deque_baseIN7everest7planner9PointNodeESaIS2_EEC1EOS4_St17integral_constantIbLb1EE +_ZNSt11_Deque_baseIN7everest7planner9PointNodeESaIS2_EEC2EOS4_St17integral_constantIbLb1EE _ZNSt11_Deque_baseIN7everest7planner9PointNodeESaIS2_EED1Ev _ZNSt11_Deque_baseIN7everest7planner9PointNodeESaIS2_EED2Ev _ZNSt11_Deque_baseIN7everest9hwdrivers10TRemoteKeyESaIS2_EE17_M_initialize_mapEj @@ -28955,6 +29088,7 @@ _ZNSt5dequeIN7everest7planner9PointNodeESaIS2_EE16_M_push_back_auxIIRKS2_EEEvDpOT_ _ZNSt5dequeIN7everest7planner9PointNodeESaIS2_EE16_M_push_back_auxIJRKS2_EEEvDpOT_ _ZNSt5dequeIN7everest7planner9PointNodeESaIS2_EE8_M_eraseESt15_Deque_iteratorIS2_RS2_PS2_E +_ZNSt5dequeIN7everest7planner9PointNodeESaIS2_EE8pop_backEv _ZNSt5dequeIN7everest7planner9PointNodeESaIS2_EE9push_backERKS2_ _ZNSt5dequeIN7everest7planner9TDockPoseESaIS2_EE15_M_erase_at_endESt15_Deque_iteratorIS2_RS2_PS2_E _ZNSt5dequeIN7everest7planner9TDockPoseESaIS2_EE16_M_push_back_auxIIRKS2_EEEvDpOT_ @@ -29398,6 +29532,8 @@ _ZNSt6vectorIN7everest7planner16CDockMiddlePoint18ScanDataPropertiesESaIS3_EE19_M_emplace_back_auxIJRKS3_EEEvDpOT_ _ZNSt6vectorIN7everest7planner18ConfirmedDoorInforESaIS2_EE19_M_emplace_back_auxIIRKS2_EEEvDpOT_ _ZNSt6vectorIN7everest7planner18ConfirmedDoorInforESaIS2_EE19_M_emplace_back_auxIJRKS2_EEEvDpOT_ +_ZNSt6vectorIN7everest7planner18ConfirmedDoorInforESaIS2_EEC1ERKS4_ +_ZNSt6vectorIN7everest7planner18ConfirmedDoorInforESaIS2_EEC2ERKS4_ _ZNSt6vectorIN7everest7planner18ConfirmedDoorInforESaIS2_EED1Ev _ZNSt6vectorIN7everest7planner18ConfirmedDoorInforESaIS2_EED2Ev _ZNSt6vectorIN7everest7planner24CExploreTargetGeneration10TGraphPoseESaIS3_EE19_M_emplace_back_auxIIRKS3_EEEvDpOT_ @@ -29421,6 +29557,8 @@ _ZNSt6vectorIN7everest7planner9PointNodeESaIS2_EE19_M_emplace_back_auxIIRKS2_EEEvDpOT_ _ZNSt6vectorIN7everest7planner9PointNodeESaIS2_EE19_M_emplace_back_auxIJRKS2_EEEvDpOT_ _ZNSt6vectorIN7everest7planner9PointNodeESaIS2_EE9push_backERKS2_ +_ZNSt6vectorIN7everest7planner9PointNodeESaIS2_EEC1ERKS4_ +_ZNSt6vectorIN7everest7planner9PointNodeESaIS2_EEC2ERKS4_ _ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE13_M_insert_auxEN9__gnu_cxx17__normal_iteratorIPS5_S7_EERKS5_ _ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE15_M_erase_at_endEPS5_ _ZNSt6vectorINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEESaIS5_EE19_M_emplace_back_auxIIPKcEEEvDpOT_ @@ -29507,7 +29645,6 @@ _ZNSt6vectorIS_IN7everest4base12CRobotPose2DESaIS2_EESaIS4_EED2Ev _ZNSt6vectorIS_IN7everest7planner9PointNodeESaIS2_EESaIS4_EE19_M_emplace_back_auxIIRKS4_EEEvDpOT_ _ZNSt6vectorIS_IN7everest7planner9PointNodeESaIS2_EESaIS4_EE19_M_emplace_back_auxIJRKS4_EEEvDpOT_ -_ZNSt6vectorIS_IN7everest7planner9PointNodeESaIS2_EESaIS4_EE9push_backERKS4_ _ZNSt6vectorIS_IPN5ceres8internal13ResidualBlockESaIS3_EESaIS5_EE14_M_fill_insertEN9__gnu_cxx17__normal_iteratorIPS5_S7_EEjRKS5_ _ZNSt6vectorIsSaIsEE19_M_emplace_back_auxIIsEEEvDpOT_ _ZNSt6vectorIsSaIsEE19_M_emplace_back_auxIJsEEEvDpOT_ @@ -29733,7 +29870,6 @@ _ZnwjRKSt9nothrow_t Zoom iteration: Zoom phase found step size: -ZP# _ZSt10_ConstructINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEES5_EvPT_RKT0_ _ZSt10__pop_heapIN9__gnu_cxx17__normal_iteratorIPN6google19CommandLineFlagInfoESt6vectorIS3_SaIS3_EEEENS0_5__ops15_Iter_comp_iterINS2_19FilenameFlagnameCmpEEEEvT_SD_SD_T0_ _ZSt11__addressofINSt7__cxx1112basic_stringIcSt11char_traitsIcESaIcEEEEPT_RS6_