Interface for MapBuilder (#715)
Defines an interface for MapBuilder that can be used to implement a gRPC stub. [RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)master
gaschler
GitHub
parent
5147af9763
commit
85bfb888eb
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@ -17,24 +17,13 @@
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#ifndef CARTOGRAPHER_MAPPING_MAP_BUILDER_H_
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#define CARTOGRAPHER_MAPPING_MAP_BUILDER_H_
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#include <memory>
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#include <string>
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#include <unordered_map>
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#include <unordered_set>
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#include <vector>
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#include "cartographer/mapping/map_builder_interface.h"
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#include <memory>
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#include <unordered_map>
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#include "Eigen/Geometry"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/common/port.h"
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#include "cartographer/common/thread_pool.h"
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#include "cartographer/io/proto_stream.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer/mapping/proto/map_builder_options.pb.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/submaps.h"
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#include "cartographer/mapping/trajectory_builder.h"
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#include "cartographer/mapping_2d/pose_graph.h"
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#include "cartographer/mapping_3d/pose_graph.h"
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#include "cartographer/sensor/collator.h"
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@ -47,50 +36,36 @@ proto::MapBuilderOptions CreateMapBuilderOptions(
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// Wires up the complete SLAM stack with TrajectoryBuilders (for local submaps)
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// and a PoseGraph for loop closure.
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class MapBuilder {
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class MapBuilder : public MapBuilderInterface {
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public:
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using LocalSlamResultCallback =
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GlobalTrajectoryBuilderInterface::LocalSlamResultCallback;
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MapBuilder(const proto::MapBuilderOptions& options,
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const LocalSlamResultCallback& local_slam_result_callback);
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~MapBuilder();
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~MapBuilder() override;
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MapBuilder(const MapBuilder&) = delete;
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MapBuilder& operator=(const MapBuilder&) = delete;
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// Creates a new trajectory builder and returns its index.
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int AddTrajectoryBuilder(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const proto::TrajectoryBuilderOptions& trajectory_options);
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const proto::TrajectoryBuilderOptions& trajectory_options) override;
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// Creates a new trajectory and returns its index. Querying the trajectory
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// builder for it will return 'nullptr'.
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int AddTrajectoryForDeserialization();
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int AddTrajectoryForDeserialization() override;
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// Returns the TrajectoryBuilder corresponding to the specified
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// 'trajectory_id' or 'nullptr' if the trajectory has no corresponding
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// builder.
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mapping::TrajectoryBuilder* GetTrajectoryBuilder(int trajectory_id) const;
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mapping::TrajectoryBuilder* GetTrajectoryBuilder(
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int trajectory_id) const override;
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// Marks the TrajectoryBuilder corresponding to 'trajectory_id' as finished,
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// i.e. no further sensor data is expected.
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void FinishTrajectory(int trajectory_id);
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void FinishTrajectory(int trajectory_id) override;
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// Fills the SubmapQuery::Response corresponding to 'submap_id'. Returns an
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// error string on failure, or an empty string on success.
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std::string SubmapToProto(const SubmapId& submap_id,
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proto::SubmapQuery::Response* response);
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proto::SubmapQuery::Response* response) override;
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// Serializes the current state to a proto stream.
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void SerializeState(io::ProtoStreamWriter* writer);
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void SerializeState(io::ProtoStreamWriter* writer) override;
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// Loads submaps from a proto stream into a new frozen trajectory.
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void LoadMap(io::ProtoStreamReader* reader);
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void LoadMap(io::ProtoStreamReader* reader) override;
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int num_trajectory_builders() const;
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int num_trajectory_builders() const override;
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mapping::PoseGraph* pose_graph();
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mapping::PoseGraph* pose_graph() override;
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private:
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const proto::MapBuilderOptions options_;
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@ -0,0 +1,89 @@
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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_MAPPING_MAP_BUILDER_INTERFACE_H_
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#define CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_
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#include <string>
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#include <unordered_set>
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#include <vector>
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#include "Eigen/Geometry"
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#include "cartographer/common/lua_parameter_dictionary.h"
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#include "cartographer/common/port.h"
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#include "cartographer/io/proto_stream.h"
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#include "cartographer/mapping/id.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer/mapping/proto/submap_visualization.pb.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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#include "cartographer/mapping/submaps.h"
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#include "cartographer/mapping/trajectory_builder.h"
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namespace cartographer {
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namespace mapping {
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// This interface is used for both library and RPC implementations.
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// Implementations wire up the complete SLAM stack.
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class MapBuilderInterface {
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public:
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using LocalSlamResultCallback =
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GlobalTrajectoryBuilderInterface::LocalSlamResultCallback;
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MapBuilderInterface(){};
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virtual ~MapBuilderInterface(){};
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MapBuilderInterface(const MapBuilderInterface&) = delete;
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MapBuilderInterface& operator=(const MapBuilderInterface&) = delete;
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// Creates a new trajectory builder and returns its index.
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virtual int AddTrajectoryBuilder(
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const std::unordered_set<std::string>& expected_sensor_ids,
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const proto::TrajectoryBuilderOptions& trajectory_options) = 0;
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// Creates a new trajectory and returns its index. Querying the trajectory
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// builder for it will return 'nullptr'.
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virtual int AddTrajectoryForDeserialization() = 0;
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// Returns the TrajectoryBuilder corresponding to the specified
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// 'trajectory_id' or 'nullptr' if the trajectory has no corresponding
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// builder.
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virtual mapping::TrajectoryBuilder* GetTrajectoryBuilder(
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int trajectory_id) const = 0;
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// Marks the TrajectoryBuilder corresponding to 'trajectory_id' as finished,
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// i.e. no further sensor data is expected.
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virtual void FinishTrajectory(int trajectory_id) = 0;
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// Fills the SubmapQuery::Response corresponding to 'submap_id'. Returns an
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// error string on failure, or an empty string on success.
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virtual std::string SubmapToProto(const SubmapId& submap_id,
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proto::SubmapQuery::Response* response) = 0;
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// Serializes the current state to a proto stream.
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virtual void SerializeState(io::ProtoStreamWriter* writer) = 0;
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// Loads submaps from a proto stream into a new frozen trajectory.
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virtual void LoadMap(io::ProtoStreamReader* reader) = 0;
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virtual int num_trajectory_builders() const = 0;
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virtual mapping::PoseGraph* pose_graph() = 0;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_MAP_BUILDER_INTERFACE_H_
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