68 lines
2.6 KiB
C
68 lines
2.6 KiB
C
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/*
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* Copyright 2017 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_MAPPING_MAP_BUILDER_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_MAP_BUILDER_STUB_H_
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#include <memory>
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer_grpc/mapping/pose_graph_stub.h"
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#include "cartographer_grpc/mapping/trajectory_builder_stub.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class MapBuilderStub : public cartographer::mapping::MapBuilderInterface {
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public:
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MapBuilderStub(const std::string& server_address);
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MapBuilderStub(const MapBuilderStub&) = delete;
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MapBuilderStub& operator=(const MapBuilderStub&) = delete;
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int AddTrajectoryBuilder(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const cartographer::mapping::proto::TrajectoryBuilderOptions&
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trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) override;
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int AddTrajectoryForDeserialization() override;
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cartographer::mapping::TrajectoryBuilderInterface* GetTrajectoryBuilder(
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int trajectory_id) const override;
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void FinishTrajectory(int trajectory_id) override;
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std::string SubmapToProto(
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const cartographer::mapping::SubmapId& submap_id,
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cartographer::mapping::proto::SubmapQuery::Response* response) override;
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void SerializeState(cartographer::io::ProtoStreamWriter* writer) override;
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void LoadMap(cartographer::io::ProtoStreamReader* reader) override;
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int num_trajectory_builders() const override;
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cartographer::mapping::PoseGraphInterface* pose_graph() override;
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private:
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grpc::ClientContext client_context_;
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std::shared_ptr<grpc::Channel> client_channel_;
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std::unique_ptr<proto::MapBuilderService::Stub> service_stub_;
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PoseGraphStub pose_graph_stub_;
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std::map<int, std::unique_ptr<TrajectoryBuilderStub>>
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trajectory_builder_stubs_;
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};
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} // namespace mapping
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAPPING_MAP_BUILDER_STUB_H_
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