cartographer/cartographer_grpc/sensor/serialization.h

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/*
* Copyright 2018 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_SENSOR_SERIALIZATION_H
#define CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H
#include "cartographer/mapping/local_slam_result_data.h"
#include "cartographer/mapping/trajectory_builder_interface.h"
#include "cartographer/sensor/fixed_frame_pose_data.h"
#include "cartographer/sensor/imu_data.h"
#include "cartographer/sensor/landmark_data.h"
#include "cartographer/sensor/odometry_data.h"
#include "cartographer/sensor/timed_point_cloud_data.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
namespace cartographer_grpc {
namespace sensor {
void CreateSensorMetadata(const std::string& sensor_id, int trajectory_id,
proto::SensorMetadata* proto);
void CreateAddFixedFramePoseDataRequest(
const std::string& sensor_id, int trajectory_id,
const cartographer::sensor::proto::FixedFramePoseData&
fixed_frame_pose_data,
proto::AddFixedFramePoseDataRequest* proto);
void CreateAddImuDataRequest(
const std::string& sensor_id, int trajectory_id,
const cartographer::sensor::proto::ImuData& imu_data,
proto::AddImuDataRequest* proto);
void CreateAddOdometryDataRequest(
const std::string& sensor_id, int trajectory_id,
const cartographer::sensor::proto::OdometryData& odometry_data,
proto::AddOdometryDataRequest* proto);
void CreateAddRangeFinderDataRequest(
const std::string& sensor_id, int trajectory_id,
const cartographer::sensor::proto::TimedPointCloudData&
timed_point_cloud_data,
proto::AddRangefinderDataRequest* proto);
void CreateAddLandmarkDataRequest(
const std::string& sensor_id, int trajectory_id,
const cartographer::sensor::proto::LandmarkData& landmark_data,
proto::AddLandmarkDataRequest* proto);
void CreateAddLocalSlamResultDataRequest(
const std::string& sensor_id, int trajectory_id,
cartographer::common::Time time, int starting_submap_index,
const cartographer::mapping::TrajectoryBuilderInterface::InsertionResult&
insertion_result,
proto::AddLocalSlamResultDataRequest* proto);
proto::SensorId ToProto(
const cartographer::mapping::TrajectoryBuilderInterface::SensorId&
sensor_id);
cartographer::mapping::TrajectoryBuilderInterface::SensorId FromProto(
const proto::SensorId& proto);
} // namespace sensor
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H