57 lines
2.1 KiB
C
57 lines
2.1 KiB
C
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/*
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* Copyright 2017 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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#ifndef CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class TrajectoryBuilderStub
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: public cartographer::mapping::TrajectoryBuilderInterface {
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public:
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TrajectoryBuilderStub(std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub);
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TrajectoryBuilderStub(const TrajectoryBuilderStub&) = delete;
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TrajectoryBuilderStub& operator=(const TrajectoryBuilderStub&) = delete;
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void AddSensorData(const std::string& sensor_id,
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const cartographer::sensor::TimedPointCloudData&
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timed_point_cloud_data) override;
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void AddSensorData(const std::string& sensor_id,
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const cartographer::sensor::ImuData& imu_data) override;
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void AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::OdometryData& odometry_data) override;
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void AddSensorData(const std::string& sensor_id,
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const cartographer::sensor::FixedFramePoseData&
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fixed_frame_pose) override;
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private:
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std::shared_ptr<grpc::Channel> client_channel_;
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proto::MapBuilderService::Stub* stub_;
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};
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} // namespace mapping
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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