Add gRPC version of RunFinalOptimization(). (#852)
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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_RUN_FINAL_OPTIMIZATION_H
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#define CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer/mapping/pose_graph.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 RunFinalOptimizationHandler
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: public framework::RpcHandler<google::protobuf::Empty,
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google::protobuf::Empty> {
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public:
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void OnRequest(const google::protobuf::Empty& request) override {
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GetContext<MapBuilderServer::MapBuilderContext>()
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->map_builder()
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.pose_graph()
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->RunFinalOptimization();
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Send(cartographer::common::make_unique<google::protobuf::Empty>());
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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_RUN_FINAL_OPTIMIZATION_H
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@ -31,6 +31,7 @@
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#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
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#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
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#include "cartographer_grpc/handlers/load_map_handler.h"
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#include "cartographer_grpc/handlers/load_map_handler.h"
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#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "cartographer_grpc/handlers/run_final_optimization.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "glog/logging.h"
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#include "glog/logging.h"
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@ -253,6 +254,9 @@ MapBuilderServer::MapBuilderServer(
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server_builder
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server_builder
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.RegisterHandler<handlers::LoadMapHandler, proto::MapBuilderService>(
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.RegisterHandler<handlers::LoadMapHandler, proto::MapBuilderService>(
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"LoadMap");
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"LoadMap");
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server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler,
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proto::MapBuilderService>(
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"RunFinalOptimization");
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grpc_server_ = server_builder.Build();
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grpc_server_ = server_builder.Build();
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grpc_server_->SetExecutionContext(
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grpc_server_->SetExecutionContext(
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cartographer::common::make_unique<MapBuilderContext>(this));
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cartographer::common::make_unique<MapBuilderContext>(this));
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@ -26,7 +26,12 @@ PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub)
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proto::MapBuilderService::Stub* stub)
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: client_channel_(client_channel), stub_(stub) {}
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: client_channel_(client_channel), stub_(stub) {}
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void PoseGraphStub::RunFinalOptimization() { LOG(FATAL) << "Not implemented"; }
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void PoseGraphStub::RunFinalOptimization() {
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grpc::ClientContext client_context;
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google::protobuf::Empty request;
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google::protobuf::Empty response;
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CHECK(stub_->RunFinalOptimization(&client_context, request, &response).ok());
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}
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cartographer::mapping::MapById<
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cartographer::mapping::MapById<
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cartographer::mapping::SubmapId,
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cartographer::mapping::SubmapId,
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@ -192,6 +192,10 @@ service MapBuilderService {
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// Returns the list of constraints in the current optimization problem.
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// Returns the list of constraints in the current optimization problem.
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rpc GetConstraints(google.protobuf.Empty) returns (GetConstraintsResponse);
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rpc GetConstraints(google.protobuf.Empty) returns (GetConstraintsResponse);
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// Requests a PoseGraph to call RunFinalOptimization.
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rpc RunFinalOptimization(google.protobuf.Empty)
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returns (google.protobuf.Empty);
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// Adds map data in the order defined by ProtoStreamReader.
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// Adds map data in the order defined by ProtoStreamReader.
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rpc LoadMap(stream LoadMapRequest) returns (google.protobuf.Empty);
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rpc LoadMap(stream LoadMapRequest) returns (google.protobuf.Empty);
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}
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}
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