Add gRPC version of RunFinalOptimization(). (#852)

cartographer_grpc/handlers/run_final_optimization.h

@@ -0,0 +1,46 @@
+/*
+ * 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_RUN_FINAL_OPTIMIZATION_H
+#define CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H
+
+#include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/pose_graph.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 RunFinalOptimizationHandler
+    : public framework::RpcHandler<google::protobuf::Empty,
+                                   google::protobuf::Empty> {
+ public:
+  void OnRequest(const google::protobuf::Empty& request) override {
+    GetContext<MapBuilderServer::MapBuilderContext>()
+        ->map_builder()
+        .pose_graph()
+        ->RunFinalOptimization();
+    Send(cartographer::common::make_unique<google::protobuf::Empty>());
+  }
+};
+
+}  // namespace handlers
+}  // namespace cartographer_grpc
+
+#endif  // CARTOGRAPHER_GRPC_HANDLERS_RUN_FINAL_OPTIMIZATION_H

cartographer_grpc/map_builder_server.cc

@@ -31,6 +31,7 @@
 #include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
 #include "cartographer_grpc/handlers/load_map_handler.h"
 #include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
+#include "cartographer_grpc/handlers/run_final_optimization.h"
 #include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
 #include "glog/logging.h"
 
@@ -253,6 +254,9 @@ MapBuilderServer::MapBuilderServer(
   server_builder
       .RegisterHandler<handlers::LoadMapHandler, proto::MapBuilderService>(
           "LoadMap");
+  server_builder.RegisterHandler<handlers::RunFinalOptimizationHandler,
+                                 proto::MapBuilderService>(
+      "RunFinalOptimization");
   grpc_server_ = server_builder.Build();
   grpc_server_->SetExecutionContext(
       cartographer::common::make_unique<MapBuilderContext>(this));

cartographer_grpc/mapping/pose_graph_stub.cc

@@ -26,7 +26,12 @@ PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
                              proto::MapBuilderService::Stub* stub)
     : client_channel_(client_channel), stub_(stub) {}
 
-void PoseGraphStub::RunFinalOptimization() { LOG(FATAL) << "Not implemented"; }
+void PoseGraphStub::RunFinalOptimization() {
+  grpc::ClientContext client_context;
+  google::protobuf::Empty request;
+  google::protobuf::Empty response;
+  CHECK(stub_->RunFinalOptimization(&client_context, request, &response).ok());
+}
 
 cartographer::mapping::MapById<
     cartographer::mapping::SubmapId,

cartographer_grpc/proto/map_builder_service.proto

@@ -192,6 +192,10 @@ service MapBuilderService {
   // Returns the list of constraints in the current optimization problem.
   rpc GetConstraints(google.protobuf.Empty) returns (GetConstraintsResponse);
 
+  // Requests a PoseGraph to call RunFinalOptimization.
+  rpc RunFinalOptimization(google.protobuf.Empty)
+      returns (google.protobuf.Empty);
+
   // Adds map data in the order defined by ProtoStreamReader.
   rpc LoadMap(stream LoadMapRequest) returns (google.protobuf.Empty);
 }