Fix namespace of serialization functions. (#825)

cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h

@@ -49,7 +49,7 @@ class AddFixedFramePoseDataHandler
             ->local_trajectory_uploader()) {
       auto data_request = cartographer::common::make_unique<
           proto::AddFixedFramePoseDataRequest>();
-      mapping::CreateAddFixedFramePoseDataRequest(
+      sensor::CreateAddFixedFramePoseDataRequest(
           request.sensor_metadata().sensor_id(),
           request.sensor_metadata().trajectory_id(),
           request.fixed_frame_pose_data(), data_request.get());

cartographer_grpc/handlers/add_imu_data_handler.h

@@ -48,10 +48,9 @@ class AddImuDataHandler
             ->local_trajectory_uploader()) {
       auto data_request =
           cartographer::common::make_unique<proto::AddImuDataRequest>();
-      mapping::CreateAddImuDataRequest(
+      sensor::CreateAddImuDataRequest(request.sensor_metadata().sensor_id(),
-          request.sensor_metadata().sensor_id(),
+                                      request.sensor_metadata().trajectory_id(),
-          request.sensor_metadata().trajectory_id(), request.imu_data(),
+                                      request.imu_data(), data_request.get());
-          data_request.get());
       GetUnsynchronizedContext<MapBuilderServer::MapBuilderContext>()
           ->local_trajectory_uploader()
           ->EnqueueDataRequest(std::move(data_request));

cartographer_grpc/handlers/add_odometry_data_handler.h

@@ -48,7 +48,7 @@ class AddOdometryDataHandler
             ->local_trajectory_uploader()) {
       auto data_request =
           cartographer::common::make_unique<proto::AddOdometryDataRequest>();
-      mapping::CreateAddOdometryDataRequest(
+      sensor::CreateAddOdometryDataRequest(
           request.sensor_metadata().sensor_id(),
           request.sensor_metadata().trajectory_id(), request.odometry_data(),
           data_request.get());

cartographer_grpc/mapping/trajectory_builder_stub.cc

@@ -76,7 +76,7 @@ void TrajectoryBuilderStub::AddSensorData(
     CHECK(rangefinder_writer_.client_writer);
   }
   proto::AddRangefinderDataRequest request;
-  CreateAddRangeFinderDataRequest(
+  sensor::CreateAddRangeFinderDataRequest(
       sensor_id, trajectory_id_,
       cartographer::sensor::ToProto(timed_point_cloud_data), &request);
   rangefinder_writer_.client_writer->Write(request);
@@ -91,8 +91,9 @@ void TrajectoryBuilderStub::AddSensorData(
     CHECK(imu_writer_.client_writer);
   }
   proto::AddImuDataRequest request;
-  CreateAddImuDataRequest(sensor_id, trajectory_id_,
+  sensor::CreateAddImuDataRequest(sensor_id, trajectory_id_,
-                          cartographer::sensor::ToProto(imu_data), &request);
+                                  cartographer::sensor::ToProto(imu_data),
+                                  &request);
   imu_writer_.client_writer->Write(request);
 }
 
@@ -105,9 +106,9 @@ void TrajectoryBuilderStub::AddSensorData(
     CHECK(odometry_writer_.client_writer);
   }
   proto::AddOdometryDataRequest request;
-  CreateAddOdometryDataRequest(sensor_id, trajectory_id_,
+  sensor::CreateAddOdometryDataRequest(
-                               cartographer::sensor::ToProto(odometry_data),
+      sensor_id, trajectory_id_, cartographer::sensor::ToProto(odometry_data),
-                               &request);
+      &request);
   odometry_writer_.client_writer->Write(request);
 }
 
@@ -120,7 +121,7 @@ void TrajectoryBuilderStub::AddSensorData(
     CHECK(fixed_frame_writer_.client_writer);
   }
   proto::AddFixedFramePoseDataRequest request;
-  CreateAddFixedFramePoseDataRequest(
+  sensor::CreateAddFixedFramePoseDataRequest(
       sensor_id, trajectory_id_,
       cartographer::sensor::ToProto(fixed_frame_pose), &request);
   fixed_frame_writer_.client_writer->Write(request);

cartographer_grpc/sensor/serialization.cc

@@ -17,7 +17,7 @@
 #include "serialization.h"
 
 namespace cartographer_grpc {
-namespace mapping {
+namespace sensor {
 
 void CreateSensorMetadata(const std::string& sensor_id, const int trajectory_id,
                           proto::SensorMetadata* proto) {
@@ -63,5 +63,5 @@ void CreateAddRangeFinderDataRequest(
   *proto->mutable_timed_point_cloud_data() = timed_point_cloud_data;
 }
 
-}  // namespace mapping
+}  // namespace sensor
 }  // namespace cartographer_grpc

cartographer_grpc/sensor/serialization.h

@@ -24,7 +24,7 @@
 #include "cartographer_grpc/proto/map_builder_service.pb.h"
 
 namespace cartographer_grpc {
-namespace mapping {
+namespace sensor {
 
 void CreateSensorMetadata(const std::string& sensor_id, int trajectory_id,
                           proto::SensorMetadata* proto);
@@ -47,7 +47,7 @@ void CreateAddRangeFinderDataRequest(
         timed_point_cloud_data,
     proto::AddRangefinderDataRequest* proto);
 
-}  // namespace mapping
+}  // namespace sensor
 }  // namespace cartographer_grpc
 
 #endif  // CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H