41 lines
1.4 KiB
C++
41 lines
1.4 KiB
C++
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/*
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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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#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_context_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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void RunFinalOptimizationHandler::OnRequest(
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const google::protobuf::Empty& request) {
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GetContext<MapBuilderContextInterface>()
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->map_builder()
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.pose_graph()
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->RunFinalOptimization();
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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}
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} // namespace handlers
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} // namespace cartographer_grpc
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