cartographer/cartographer_grpc/mapping/map_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_MAP_BUILDER_STUB_H_
#define CARTOGRAPHER_GRPC_MAPPING_MAP_BUILDER_STUB_H_
#include <memory>
#include "cartographer/mapping/map_builder_interface.h"
#include "cartographer_grpc/mapping/pose_graph_stub.h"
#include "cartographer_grpc/mapping/trajectory_builder_stub.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace mapping {
class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
public:
MapBuilderStub(const std::string& server_address);
MapBuilderStub(const MapBuilderStub&) = delete;
MapBuilderStub& operator=(const MapBuilderStub&) = delete;
int AddTrajectoryBuilder(
const std::unordered_set<std::string>& expected_sensor_ids,
const cartographer::mapping::proto::TrajectoryBuilderOptions&
trajectory_options,
LocalSlamResultCallback local_slam_result_callback) override;
int AddTrajectoryForDeserialization() override;
cartographer::mapping::TrajectoryBuilderInterface* GetTrajectoryBuilder(
int trajectory_id) const override;
void FinishTrajectory(int trajectory_id) override;
std::string SubmapToProto(
const cartographer::mapping::SubmapId& submap_id,
cartographer::mapping::proto::SubmapQuery::Response* response) override;
void SerializeState(cartographer::io::ProtoStreamWriter* writer) override;
void LoadMap(cartographer::io::ProtoStreamReaderInterface* reader) override;
int num_trajectory_builders() const override;
cartographer::mapping::PoseGraphInterface* pose_graph() override;
private:
std::shared_ptr<grpc::Channel> client_channel_;
std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
PoseGraphStub pose_graph_stub_;
std::map<int, std::unique_ptr<TrajectoryBuilderStub>>
trajectory_builder_stubs_;
};
} // namespace mapping
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAPPING_MAP_BUILDER_STUB_H_