55 lines
2.1 KiB
C
55 lines
2.1 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_HANDLERS_GET_ALL_SUBMAP_POSES_H
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#define CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.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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class GetAllSubmapPosesHandler
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: public framework::RpcHandler<google::protobuf::Empty,
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proto::GetAllSubmapPosesResponse> {
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public:
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void OnRequest(const google::protobuf::Empty& request) override {
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auto submap_poses = GetContext<MapBuilderServer::MapBuilderContext>()
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->map_builder()
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.pose_graph()
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->GetAllSubmapPoses();
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auto response =
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cartographer::common::make_unique<proto::GetAllSubmapPosesResponse>();
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for (const auto& submap_id_pose : submap_poses) {
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auto* submap_pose = response->add_submap_poses();
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submap_id_pose.id.ToProto(submap_pose->mutable_submap_id());
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submap_pose->set_submap_version(submap_id_pose.data.version);
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*submap_pose->mutable_global_pose() =
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cartographer::transform::ToProto(submap_id_pose.data.pose);
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}
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Send(std::move(response));
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_GET_ALL_SUBMAP_POSES_H
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