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