cartographer/cartographer_grpc/mapping/trajectory_builder_stub.h

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/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#ifndef CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
#define CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
#include <thread>
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer_grpc/framework/client.h"
#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
#include "cartographer_grpc/handlers/add_imu_data_handler.h"
#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace mapping {
class TrajectoryBuilderStub
: public cartographer::mapping::TrajectoryBuilderInterface {
public:
TrajectoryBuilderStub(std::shared_ptr<grpc::Channel> client_channel,
const int trajectory_id,
LocalSlamResultCallback local_slam_result_callback);
~TrajectoryBuilderStub() override;
TrajectoryBuilderStub(const TrajectoryBuilderStub&) = delete;
TrajectoryBuilderStub& operator=(const TrajectoryBuilderStub&) = delete;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::TimedPointCloudData&
timed_point_cloud_data) override;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::ImuData& imu_data) override;
void AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::OdometryData& odometry_data) override;
void AddSensorData(const std::string& sensor_id,
const cartographer::sensor::FixedFramePoseData&
fixed_frame_pose) override;
void AddSensorData(
const std::string& sensor_id,
const cartographer::sensor::LandmarkData& landmark_data) override;
void AddLocalSlamResultData(
std::unique_ptr<cartographer::mapping::LocalSlamResultData>
local_slam_result_data) override;
private:
static void RunLocalSlamResultsReader(
framework::Client<handlers::ReceiveLocalSlamResultsHandler>*
client_reader,
LocalSlamResultCallback local_slam_result_callback);
std::shared_ptr<grpc::Channel> client_channel_;
const int trajectory_id_;
std::unique_ptr<framework::Client<handlers::AddRangefinderDataHandler>>
add_rangefinder_client_;
std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
add_imu_client_;
std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
add_odometry_client_;
std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
add_fixed_frame_pose_client_;
std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
add_landmark_client_;
framework::Client<handlers::ReceiveLocalSlamResultsHandler>
receive_local_slam_results_client_;
std::unique_ptr<std::thread> receive_local_slam_results_thread_;
};
} // namespace mapping
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_