From ccc25862bfe9a701e4a2d134581d049b4b4b3c96 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Wed, 10 Oct 2018 13:38:58 +0200
Subject: [PATCH] [GenericPoseGraph] Add a helper func to add PoseGraphData.
 (#1443)

---
 cartographer/pose_graph/pose_graph_controller.cc | 10 ++++++++++
 cartographer/pose_graph/pose_graph_controller.h  |  2 ++
 2 files changed, 12 insertions(+)

diff --git a/cartographer/pose_graph/pose_graph_controller.cc b/cartographer/pose_graph/pose_graph_controller.cc
index bdd56d9..5a7aa2c 100644
--- a/cartographer/pose_graph/pose_graph_controller.cc
+++ b/cartographer/pose_graph/pose_graph_controller.cc
@@ -19,6 +19,16 @@
 namespace cartographer {
 namespace pose_graph {
 
+void PoseGraphController::AddData(const proto::PoseGraphData& data) {
+  absl::MutexLock locker(&mutex_);
+  for (const auto& node : data.nodes()) {
+    AddNodeToPoseGraphData(node, &data_);
+  }
+  for (const auto& constraint : data.constraints()) {
+    AddConstraintToPoseGraphData(constraint, &data_);
+  }
+}
+
 void PoseGraphController::AddNode(const proto::Node& node) {
   absl::MutexLock locker(&mutex_);
   AddNodeToPoseGraphData(node, &data_);
diff --git a/cartographer/pose_graph/pose_graph_controller.h b/cartographer/pose_graph/pose_graph_controller.h
index e72cc31..3c915ed 100644
--- a/cartographer/pose_graph/pose_graph_controller.h
+++ b/cartographer/pose_graph/pose_graph_controller.h
@@ -19,6 +19,7 @@
 
 #include "absl/synchronization/mutex.h"
 #include "cartographer/pose_graph/pose_graph_data.h"
+#include "cartographer/pose_graph/proto/pose_graph_data.pb.h"
 #include "cartographer/pose_graph/solver/solver.h"
 
 namespace cartographer {
@@ -32,6 +33,7 @@ class PoseGraphController {
   PoseGraphController(const PoseGraphController&) = delete;
   PoseGraphController& operator=(const PoseGraphController&) = delete;
 
+  void AddData(const proto::PoseGraphData& data) LOCKS_EXCLUDED(mutex_);
   void AddNode(const proto::Node& node) LOCKS_EXCLUDED(mutex_);
   void AddConstraint(const proto::Constraint& constraint)
       LOCKS_EXCLUDED(mutex_);