cartographer/cartographer_grpc/handlers/get_trajectory_node_poses_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_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
#define CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
#include "cartographer/common/make_unique.h"
#include "cartographer_grpc/framework/rpc_handler.h"
#include "cartographer_grpc/map_builder_server.h"
#include "cartographer_grpc/proto/map_builder_service.pb.h"
#include "google/protobuf/empty.pb.h"
namespace cartographer_grpc {
namespace handlers {
class GetTrajectoryNodePosesHandler
: public framework::RpcHandler<google::protobuf::Empty,
proto::GetTrajectoryNodePosesResponse> {
public:
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std::string method_name() const override {
return "/cartographer_grpc.proto.MapBuilderService/GetTrajectoryNodePoses";
}
void OnRequest(const google::protobuf::Empty& request) override {
auto node_poses = GetContext<MapBuilderServer::MapBuilderContext>()
->map_builder()
.pose_graph()
->GetTrajectoryNodePoses();
auto response = cartographer::common::make_unique<
proto::GetTrajectoryNodePosesResponse>();
for (const auto& node_id_pose : node_poses) {
auto* node_pose = response->add_node_poses();
node_id_pose.id.ToProto(node_pose->mutable_node_id());
*node_pose->mutable_global_pose() =
cartographer::transform::ToProto(node_id_pose.data.global_pose);
node_pose->set_has_constant_data(node_id_pose.data.has_constant_data);
}
Send(std::move(response));
}
};
} // namespace handlers
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H