From f76d8a8a0dd59ed7cff7a781e5d4b5b21d5c655b Mon Sep 17 00:00:00 2001 From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com> Date: Mon, 5 Mar 2018 12:41:38 +0100 Subject: [PATCH] Move cartographer_grpc/ to cartographer/cloud. (#958) [Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md) --- CMakeLists.txt | 6 +-- .../cloud}/BUILD.bazel | 0 .../cloud}/client/map_builder_stub.cc | 20 +++++----- .../cloud}/client/map_builder_stub.h | 0 .../cloud}/internal/client/pose_graph_stub.cc | 16 ++++---- .../cloud}/internal/client/pose_graph_stub.h | 0 .../client/trajectory_builder_stub.cc | 6 +-- .../internal/client/trajectory_builder_stub.h | 16 ++++---- .../cloud}/internal/client_server_test.cc | 10 ++--- .../cloud}/internal/framework/client.h | 6 +-- .../framework/completion_queue_thread.cc | 2 +- .../framework/completion_queue_thread.h | 0 .../internal/framework/event_queue_thread.cc | 2 +- .../internal/framework/event_queue_thread.h | 2 +- .../internal/framework/execution_context.h | 0 .../framework/proto/math_service.proto | 0 .../cloud}/internal/framework/retry.cc | 2 +- .../cloud}/internal/framework/retry.h | 0 .../cloud}/internal/framework/rpc.cc | 4 +- .../cloud}/internal/framework/rpc.h | 4 +- .../cloud}/internal/framework/rpc_handler.h | 8 ++-- .../framework/rpc_handler_interface.h | 2 +- .../cloud}/internal/framework/server.cc | 2 +- .../cloud}/internal/framework/server.h | 10 ++--- .../cloud}/internal/framework/server_test.cc | 10 ++--- .../cloud}/internal/framework/service.cc | 2 +- .../cloud}/internal/framework/service.h | 10 ++--- .../testing/rpc_handler_test_server.h | 8 ++-- .../framework/testing/rpc_handler_wrapper.h | 0 .../cloud}/internal/framework/type_traits.h | 0 .../internal/framework/type_traits_test.cc | 2 +- .../add_fixed_frame_pose_data_handler.cc | 10 ++--- .../add_fixed_frame_pose_data_handler.h | 4 +- .../add_fixed_frame_pose_data_handler_test.cc | 6 +-- .../internal/handlers/add_imu_data_handler.cc | 10 ++--- .../internal/handlers/add_imu_data_handler.h | 4 +- .../handlers/add_imu_data_handler_test.cc | 6 +-- .../handlers/add_landmark_data_handler.cc | 10 ++--- .../handlers/add_landmark_data_handler.h | 4 +- .../add_landmark_data_handler_test.cc | 6 +-- .../add_local_slam_result_data_handler.cc | 8 ++-- .../add_local_slam_result_data_handler.h | 4 +- .../handlers/add_odometry_data_handler.cc | 10 ++--- .../handlers/add_odometry_data_handler.h | 4 +- .../add_odometry_data_handler_test.cc | 6 +-- .../handlers/add_rangefinder_data_handler.cc | 8 ++-- .../handlers/add_rangefinder_data_handler.h | 4 +- .../add_rangefinder_data_handler_test.cc | 6 +-- .../handlers/add_trajectory_handler.cc | 10 ++--- .../handlers/add_trajectory_handler.h | 4 +- .../handlers/add_trajectory_handler_test.cc | 10 ++--- .../handlers/finish_trajectory_handler.cc | 8 ++-- .../handlers/finish_trajectory_handler.h | 4 +- .../internal/handlers/get_all_submap_poses.cc | 8 ++-- .../internal/handlers/get_all_submap_poses.h | 4 +- .../handlers/get_constraints_handler.cc | 8 ++-- .../handlers/get_constraints_handler.h | 4 +- .../handlers/get_landmark_poses_handler.cc | 8 ++-- .../handlers/get_landmark_poses_handler.h | 4 +- .../get_landmark_poses_handler_test.cc | 6 +-- .../get_local_to_global_transform_handler.cc | 8 ++-- .../get_local_to_global_transform_handler.h | 4 +- .../internal/handlers/get_submap_handler.cc | 8 ++-- .../internal/handlers/get_submap_handler.h | 4 +- .../get_trajectory_node_poses_handler.cc | 8 ++-- .../get_trajectory_node_poses_handler.h | 4 +- .../internal/handlers/load_state_handler.cc | 8 ++-- .../internal/handlers/load_state_handler.h | 4 +- .../receive_local_slam_results_handler.cc | 8 ++-- .../receive_local_slam_results_handler.h | 6 +-- .../run_final_optimization_handler.cc | 8 ++-- .../handlers/run_final_optimization_handler.h | 4 +- .../internal/handlers/write_state_handler.cc | 10 ++--- .../internal/handlers/write_state_handler.h | 4 +- .../internal/local_trajectory_uploader.cc | 22 +++++----- .../internal/local_trajectory_uploader.h | 0 .../cloud}/internal/map_builder_context.cc | 4 +- .../cloud}/internal/map_builder_context.h | 2 +- .../internal/map_builder_context_interface.h | 4 +- .../cloud}/internal/map_builder_server.cc | 40 +++++++++---------- .../cloud}/internal/map_builder_server.h | 12 +++--- .../cloud}/internal/sensor/serialization.cc | 2 +- .../cloud}/internal/sensor/serialization.h | 2 +- .../cloud}/internal/testing/handler_test.h | 2 +- .../testing/mock_local_trajectory_uploader.h | 2 +- .../internal/testing/mock_map_builder.h | 0 .../testing/mock_map_builder_context.h | 2 +- .../cloud}/internal/testing/mock_pose_graph.h | 0 .../testing/mock_trajectory_builder.h | 0 .../cloud}/internal/testing/test_helpers.cc | 2 +- .../cloud}/internal/testing/test_helpers.h | 2 +- .../cloud}/map_builder_server_interface.cc | 4 +- .../cloud}/map_builder_server_interface.h | 2 +- .../cloud}/map_builder_server_main.cc | 6 +-- .../cloud}/map_builder_server_options.cc | 2 +- .../cloud}/map_builder_server_options.h | 2 +- .../metrics/prometheus/family_factory.cc | 2 +- .../metrics/prometheus/family_factory.h | 0 .../cloud}/metrics/prometheus/metrics_test.cc | 2 +- .../proto/map_builder_server_options.proto | 0 .../cloud}/proto/map_builder_service.proto | 0 101 files changed, 272 insertions(+), 272 deletions(-) rename {cartographer_grpc => cartographer/cloud}/BUILD.bazel (100%) rename {cartographer_grpc => cartographer/cloud}/client/map_builder_stub.cc (89%) rename {cartographer_grpc => cartographer/cloud}/client/map_builder_stub.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/client/pose_graph_stub.cc (88%) rename {cartographer_grpc => cartographer/cloud}/internal/client/pose_graph_stub.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/client/trajectory_builder_stub.cc (97%) rename {cartographer_grpc => cartographer/cloud}/internal/client/trajectory_builder_stub.h (84%) rename {cartographer_grpc => cartographer/cloud}/internal/client_server_test.cc (97%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/client.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/completion_queue_thread.cc (95%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/completion_queue_thread.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/event_queue_thread.cc (95%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/event_queue_thread.h (96%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/execution_context.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/proto/math_service.proto (100%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/retry.cc (98%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/retry.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/rpc.cc (99%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/rpc.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/rpc_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/rpc_handler_interface.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/server.cc (99%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/server.h (95%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/server_test.cc (96%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/service.cc (98%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/service.h (86%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/testing/rpc_handler_test_server.h (94%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/testing/rpc_handler_wrapper.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/type_traits.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/framework/type_traits_test.cc (95%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_fixed_frame_pose_data_handler.cc (87%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_fixed_frame_pose_data_handler.h (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_fixed_frame_pose_data_handler_test.cc (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_imu_data_handler.cc (87%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_imu_data_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_imu_data_handler_test.cc (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_landmark_data_handler.cc (87%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_landmark_data_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_landmark_data_handler_test.cc (93%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_local_slam_result_data_handler.cc (85%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_local_slam_result_data_handler.h (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_odometry_data_handler.cc (87%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_odometry_data_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_odometry_data_handler_test.cc (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_rangefinder_data_handler.cc (85%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_rangefinder_data_handler.h (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_rangefinder_data_handler_test.cc (89%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_trajectory_handler.cc (88%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_trajectory_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/add_trajectory_handler_test.cc (93%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/finish_trajectory_handler.cc (84%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/finish_trajectory_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_all_submap_poses.cc (85%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_all_submap_poses.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_constraints_handler.cc (84%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_constraints_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_landmark_poses_handler.cc (84%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_landmark_poses_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_landmark_poses_handler_test.cc (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_local_to_global_transform_handler.cc (81%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_local_to_global_transform_handler.h (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_submap_handler.cc (83%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_submap_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_trajectory_node_poses_handler.cc (84%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/get_trajectory_node_poses_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/load_state_handler.cc (86%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/load_state_handler.h (92%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/receive_local_slam_results_handler.cc (90%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/receive_local_slam_results_handler.h (88%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/run_final_optimization_handler.cc (81%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/run_final_optimization_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/write_state_handler.cc (86%) rename {cartographer_grpc => cartographer/cloud}/internal/handlers/write_state_handler.h (91%) rename {cartographer_grpc => cartographer/cloud}/internal/local_trajectory_uploader.cc (92%) rename {cartographer_grpc => cartographer/cloud}/internal/local_trajectory_uploader.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/map_builder_context.cc (98%) rename {cartographer_grpc => cartographer/cloud}/internal/map_builder_context.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/map_builder_context_interface.h (96%) rename {cartographer_grpc => cartographer/cloud}/internal/map_builder_server.cc (83%) rename {cartographer_grpc => cartographer/cloud}/internal/map_builder_server.h (90%) rename {cartographer_grpc => cartographer/cloud}/internal/sensor/serialization.cc (98%) rename {cartographer_grpc => cartographer/cloud}/internal/sensor/serialization.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/handler_test.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/mock_local_trajectory_uploader.h (96%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/mock_map_builder.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/mock_map_builder_context.h (97%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/mock_pose_graph.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/mock_trajectory_builder.h (100%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/test_helpers.cc (98%) rename {cartographer_grpc => cartographer/cloud}/internal/testing/test_helpers.h (97%) rename {cartographer_grpc => cartographer/cloud}/map_builder_server_interface.cc (80%) rename {cartographer_grpc => cartographer/cloud}/map_builder_server_interface.h (96%) rename {cartographer_grpc => cartographer/cloud}/map_builder_server_main.cc (94%) rename {cartographer_grpc => cartographer/cloud}/map_builder_server_options.cc (97%) rename {cartographer_grpc => cartographer/cloud}/map_builder_server_options.h (94%) rename {cartographer_grpc => cartographer/cloud}/metrics/prometheus/family_factory.cc (98%) rename {cartographer_grpc => cartographer/cloud}/metrics/prometheus/family_factory.h (100%) rename {cartographer_grpc => cartographer/cloud}/metrics/prometheus/metrics_test.cc (98%) rename {cartographer_grpc => cartographer/cloud}/proto/map_builder_server_options.proto (100%) rename {cartographer_grpc => cartographer/cloud}/proto/map_builder_service.proto (100%) diff --git a/CMakeLists.txt b/CMakeLists.txt index f41dd10..9c57e25 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -59,8 +59,8 @@ file(GLOB_RECURSE ALL_TESTS "*_test.cc") file(GLOB_RECURSE ALL_EXECUTABLES "*_main.cc") list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_TESTS}) list(REMOVE_ITEM ALL_LIBRARY_SRCS ${ALL_EXECUTABLES}) -file(GLOB_RECURSE ALL_GRPC_FILES "cartographer_grpc/*") -file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer_grpc/metrics/prometheus/*") +file(GLOB_RECURSE ALL_GRPC_FILES "cartographer/cloud/*") +file(GLOB_RECURSE ALL_PROMETHEUS_FILES "cartographer/cloud/metrics/prometheus/*") list(REMOVE_ITEM ALL_GRPC_FILES ${ALL_PROMETHEUS_FILES}) if (NOT ${BUILD_GRPC}) list(REMOVE_ITEM ALL_LIBRARY_HDRS ${ALL_GRPC_FILES}) @@ -159,7 +159,7 @@ google_binary(cartographer_compute_relations_metrics if(${BUILD_GRPC}) google_binary(cartographer_grpc_server SRCS - cartographer_grpc/map_builder_server_main.cc + cartographer/cloud/map_builder_server_main.cc ) target_link_libraries(cartographer_grpc_server PUBLIC grpc++) if(${BUILD_PROMETHEUS}) diff --git a/cartographer_grpc/BUILD.bazel b/cartographer/cloud/BUILD.bazel similarity index 100% rename from cartographer_grpc/BUILD.bazel rename to cartographer/cloud/BUILD.bazel diff --git a/cartographer_grpc/client/map_builder_stub.cc b/cartographer/cloud/client/map_builder_stub.cc similarity index 89% rename from cartographer_grpc/client/map_builder_stub.cc rename to cartographer/cloud/client/map_builder_stub.cc index 015743d..35cd1e5 100644 --- a/cartographer_grpc/client/map_builder_stub.cc +++ b/cartographer/cloud/client/map_builder_stub.cc @@ -14,17 +14,17 @@ * limitations under the License. */ -#include "cartographer_grpc/client/map_builder_stub.h" +#include "cartographer/cloud/client/map_builder_stub.h" -#include "cartographer_grpc/internal/client/pose_graph_stub.h" -#include "cartographer_grpc/internal/client/trajectory_builder_stub.h" -#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" -#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" -#include "cartographer_grpc/internal/handlers/get_submap_handler.h" -#include "cartographer_grpc/internal/handlers/load_state_handler.h" -#include "cartographer_grpc/internal/handlers/write_state_handler.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/client/pose_graph_stub.h" +#include "cartographer/cloud/internal/client/trajectory_builder_stub.h" +#include "cartographer/cloud/internal/handlers/add_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/get_submap_handler.h" +#include "cartographer/cloud/internal/handlers/load_state_handler.h" +#include "cartographer/cloud/internal/handlers/write_state_handler.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer_grpc/client/map_builder_stub.h b/cartographer/cloud/client/map_builder_stub.h similarity index 100% rename from cartographer_grpc/client/map_builder_stub.h rename to cartographer/cloud/client/map_builder_stub.h diff --git a/cartographer_grpc/internal/client/pose_graph_stub.cc b/cartographer/cloud/internal/client/pose_graph_stub.cc similarity index 88% rename from cartographer_grpc/internal/client/pose_graph_stub.cc rename to cartographer/cloud/internal/client/pose_graph_stub.cc index 4af8197..7af3a58 100644 --- a/cartographer_grpc/internal/client/pose_graph_stub.cc +++ b/cartographer/cloud/internal/client/pose_graph_stub.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/client/pose_graph_stub.h" +#include "cartographer/cloud/internal/client/pose_graph_stub.h" +#include "cartographer/cloud/internal/framework/client.h" +#include "cartographer/cloud/internal/handlers/get_all_submap_poses.h" +#include "cartographer/cloud/internal/handlers/get_constraints_handler.h" +#include "cartographer/cloud/internal/handlers/get_landmark_poses_handler.h" +#include "cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h" +#include "cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h" +#include "cartographer/cloud/internal/handlers/run_final_optimization_handler.h" #include "cartographer/mapping/pose_graph.h" -#include "cartographer_grpc/internal/framework/client.h" -#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" -#include "cartographer_grpc/internal/handlers/get_constraints_handler.h" -#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" -#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h" -#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h" -#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer_grpc/internal/client/pose_graph_stub.h b/cartographer/cloud/internal/client/pose_graph_stub.h similarity index 100% rename from cartographer_grpc/internal/client/pose_graph_stub.h rename to cartographer/cloud/internal/client/pose_graph_stub.h diff --git a/cartographer_grpc/internal/client/trajectory_builder_stub.cc b/cartographer/cloud/internal/client/trajectory_builder_stub.cc similarity index 97% rename from cartographer_grpc/internal/client/trajectory_builder_stub.cc rename to cartographer/cloud/internal/client/trajectory_builder_stub.cc index d734c86..3f352d5 100644 --- a/cartographer_grpc/internal/client/trajectory_builder_stub.cc +++ b/cartographer/cloud/internal/client/trajectory_builder_stub.cc @@ -14,11 +14,11 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/client/trajectory_builder_stub.h" +#include "cartographer/cloud/internal/client/trajectory_builder_stub.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/mapping/local_slam_result_data.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer_grpc/internal/client/trajectory_builder_stub.h b/cartographer/cloud/internal/client/trajectory_builder_stub.h similarity index 84% rename from cartographer_grpc/internal/client/trajectory_builder_stub.h rename to cartographer/cloud/internal/client/trajectory_builder_stub.h index e1459c4..ab9e6a7 100644 --- a/cartographer_grpc/internal/client/trajectory_builder_stub.h +++ b/cartographer/cloud/internal/client/trajectory_builder_stub.h @@ -19,16 +19,16 @@ #include +#include "cartographer/cloud/internal/framework/client.h" +#include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_imu_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h" +#include "cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_builder_interface.h" -#include "cartographer_grpc/internal/framework/client.h" -#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h" -#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" #include "grpc++/grpc++.h" #include "pose_graph_stub.h" #include "trajectory_builder_stub.h" diff --git a/cartographer_grpc/internal/client_server_test.cc b/cartographer/cloud/internal/client_server_test.cc similarity index 97% rename from cartographer_grpc/internal/client_server_test.cc rename to cartographer/cloud/internal/client_server_test.cc index 635f71d..799e577 100644 --- a/cartographer_grpc/internal/client_server_test.cc +++ b/cartographer/cloud/internal/client_server_test.cc @@ -17,13 +17,13 @@ #include #include +#include "cartographer/cloud/client/map_builder_stub.h" +#include "cartographer/cloud/internal/map_builder_server.h" +#include "cartographer/cloud/internal/testing/mock_map_builder.h" +#include "cartographer/cloud/internal/testing/mock_trajectory_builder.h" +#include "cartographer/cloud/map_builder_server_options.h" #include "cartographer/mapping/internal/test_helpers.h" #include "cartographer/mapping/local_slam_result_data.h" -#include "cartographer_grpc/client/map_builder_stub.h" -#include "cartographer_grpc/internal/map_builder_server.h" -#include "cartographer_grpc/internal/testing/mock_map_builder.h" -#include "cartographer_grpc/internal/testing/mock_trajectory_builder.h" -#include "cartographer_grpc/map_builder_server_options.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/framework/client.h b/cartographer/cloud/internal/framework/client.h similarity index 97% rename from cartographer_grpc/internal/framework/client.h rename to cartographer/cloud/internal/framework/client.h index 62ef1ba..f867a8c 100644 --- a/cartographer_grpc/internal/framework/client.h +++ b/cartographer/cloud/internal/framework/client.h @@ -17,9 +17,9 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_CLIENT_H -#include "cartographer_grpc/internal/framework/retry.h" -#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" -#include "cartographer_grpc/internal/framework/type_traits.h" +#include "cartographer/cloud/internal/framework/retry.h" +#include "cartographer/cloud/internal/framework/rpc_handler_interface.h" +#include "cartographer/cloud/internal/framework/type_traits.h" #include "glog/logging.h" #include "grpc++/grpc++.h" #include "grpc++/impl/codegen/client_unary_call.h" diff --git a/cartographer_grpc/internal/framework/completion_queue_thread.cc b/cartographer/cloud/internal/framework/completion_queue_thread.cc similarity index 95% rename from cartographer_grpc/internal/framework/completion_queue_thread.cc rename to cartographer/cloud/internal/framework/completion_queue_thread.cc index 6ce12e1..776e14d 100644 --- a/cartographer_grpc/internal/framework/completion_queue_thread.cc +++ b/cartographer/cloud/internal/framework/completion_queue_thread.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/completion_queue_thread.h" +#include "cartographer/cloud/internal/framework/completion_queue_thread.h" #include "cartographer/common/make_unique.h" #include "glog/logging.h" diff --git a/cartographer_grpc/internal/framework/completion_queue_thread.h b/cartographer/cloud/internal/framework/completion_queue_thread.h similarity index 100% rename from cartographer_grpc/internal/framework/completion_queue_thread.h rename to cartographer/cloud/internal/framework/completion_queue_thread.h diff --git a/cartographer_grpc/internal/framework/event_queue_thread.cc b/cartographer/cloud/internal/framework/event_queue_thread.cc similarity index 95% rename from cartographer_grpc/internal/framework/event_queue_thread.cc rename to cartographer/cloud/internal/framework/event_queue_thread.cc index b6778dc..d259b06 100644 --- a/cartographer_grpc/internal/framework/event_queue_thread.cc +++ b/cartographer/cloud/internal/framework/event_queue_thread.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/event_queue_thread.h" +#include "cartographer/cloud/internal/framework/event_queue_thread.h" #include "cartographer/common/make_unique.h" #include "glog/logging.h" diff --git a/cartographer_grpc/internal/framework/event_queue_thread.h b/cartographer/cloud/internal/framework/event_queue_thread.h similarity index 96% rename from cartographer_grpc/internal/framework/event_queue_thread.h rename to cartographer/cloud/internal/framework/event_queue_thread.h index 32d5ac6..aacffcf 100644 --- a/cartographer_grpc/internal/framework/event_queue_thread.h +++ b/cartographer/cloud/internal/framework/event_queue_thread.h @@ -20,8 +20,8 @@ #include #include +#include "cartographer/cloud/internal/framework/rpc.h" #include "cartographer/common/blocking_queue.h" -#include "cartographer_grpc/internal/framework/rpc.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/framework/execution_context.h b/cartographer/cloud/internal/framework/execution_context.h similarity index 100% rename from cartographer_grpc/internal/framework/execution_context.h rename to cartographer/cloud/internal/framework/execution_context.h diff --git a/cartographer_grpc/internal/framework/proto/math_service.proto b/cartographer/cloud/internal/framework/proto/math_service.proto similarity index 100% rename from cartographer_grpc/internal/framework/proto/math_service.proto rename to cartographer/cloud/internal/framework/proto/math_service.proto diff --git a/cartographer_grpc/internal/framework/retry.cc b/cartographer/cloud/internal/framework/retry.cc similarity index 98% rename from cartographer_grpc/internal/framework/retry.cc rename to cartographer/cloud/internal/framework/retry.cc index 6a64415..2bc53de 100644 --- a/cartographer_grpc/internal/framework/retry.cc +++ b/cartographer/cloud/internal/framework/retry.cc @@ -17,7 +17,7 @@ #include #include -#include "cartographer_grpc/internal/framework/retry.h" +#include "cartographer/cloud/internal/framework/retry.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer_grpc/internal/framework/retry.h b/cartographer/cloud/internal/framework/retry.h similarity index 100% rename from cartographer_grpc/internal/framework/retry.h rename to cartographer/cloud/internal/framework/retry.h diff --git a/cartographer_grpc/internal/framework/rpc.cc b/cartographer/cloud/internal/framework/rpc.cc similarity index 99% rename from cartographer_grpc/internal/framework/rpc.cc rename to cartographer/cloud/internal/framework/rpc.cc index 026c667..a2c892c 100644 --- a/cartographer_grpc/internal/framework/rpc.cc +++ b/cartographer/cloud/internal/framework/rpc.cc @@ -14,8 +14,8 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/rpc.h" -#include "cartographer_grpc/internal/framework/service.h" +#include "cartographer/cloud/internal/framework/rpc.h" +#include "cartographer/cloud/internal/framework/service.h" #include "cartographer/common/make_unique.h" #include "glog/logging.h" diff --git a/cartographer_grpc/internal/framework/rpc.h b/cartographer/cloud/internal/framework/rpc.h similarity index 97% rename from cartographer_grpc/internal/framework/rpc.h rename to cartographer/cloud/internal/framework/rpc.h index b41f219..e168a71 100644 --- a/cartographer_grpc/internal/framework/rpc.h +++ b/cartographer/cloud/internal/framework/rpc.h @@ -21,10 +21,10 @@ #include #include +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/framework/rpc_handler_interface.h" #include "cartographer/common/blocking_queue.h" #include "cartographer/common/mutex.h" -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" #include "google/protobuf/message.h" #include "grpc++/grpc++.h" #include "grpc++/impl/codegen/async_stream.h" diff --git a/cartographer_grpc/internal/framework/rpc_handler.h b/cartographer/cloud/internal/framework/rpc_handler.h similarity index 91% rename from cartographer_grpc/internal/framework/rpc_handler.h rename to cartographer/cloud/internal/framework/rpc_handler.h index 2c61b5c..32b3a4a 100644 --- a/cartographer_grpc/internal/framework/rpc_handler.h +++ b/cartographer/cloud/internal/framework/rpc_handler.h @@ -17,10 +17,10 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_H -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/framework/rpc.h" -#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" -#include "cartographer_grpc/internal/framework/type_traits.h" +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/framework/rpc.h" +#include "cartographer/cloud/internal/framework/rpc_handler_interface.h" +#include "cartographer/cloud/internal/framework/type_traits.h" #include "glog/logging.h" #include "google/protobuf/message.h" #include "grpc++/grpc++.h" diff --git a/cartographer_grpc/internal/framework/rpc_handler_interface.h b/cartographer/cloud/internal/framework/rpc_handler_interface.h similarity index 97% rename from cartographer_grpc/internal/framework/rpc_handler_interface.h rename to cartographer/cloud/internal/framework/rpc_handler_interface.h index 6edb931..39354ee 100644 --- a/cartographer_grpc/internal/framework/rpc_handler_interface.h +++ b/cartographer/cloud/internal/framework/rpc_handler_interface.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_RPC_HANDLER_INTERFACE_H_H +#include "cartographer/cloud/internal/framework/execution_context.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/execution_context.h" #include "google/protobuf/message.h" #include "grpc++/grpc++.h" diff --git a/cartographer_grpc/internal/framework/server.cc b/cartographer/cloud/internal/framework/server.cc similarity index 99% rename from cartographer_grpc/internal/framework/server.cc rename to cartographer/cloud/internal/framework/server.cc index a49da7d..c54cd41 100644 --- a/cartographer_grpc/internal/framework/server.cc +++ b/cartographer/cloud/internal/framework/server.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/server.h" +#include "cartographer/cloud/internal/framework/server.h" #include "glog/logging.h" diff --git a/cartographer_grpc/internal/framework/server.h b/cartographer/cloud/internal/framework/server.h similarity index 95% rename from cartographer_grpc/internal/framework/server.h rename to cartographer/cloud/internal/framework/server.h index e32cd5a..20f5086 100644 --- a/cartographer_grpc/internal/framework/server.h +++ b/cartographer/cloud/internal/framework/server.h @@ -23,12 +23,12 @@ #include #include +#include "cartographer/cloud/internal/framework/completion_queue_thread.h" +#include "cartographer/cloud/internal/framework/event_queue_thread.h" +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/framework/service.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/completion_queue_thread.h" -#include "cartographer_grpc/internal/framework/event_queue_thread.h" -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/framework/service.h" #include "grpc++/grpc++.h" namespace cartographer { diff --git a/cartographer_grpc/internal/framework/server_test.cc b/cartographer/cloud/internal/framework/server_test.cc similarity index 96% rename from cartographer_grpc/internal/framework/server_test.cc rename to cartographer/cloud/internal/framework/server_test.cc index 3c6754e..62a736a 100644 --- a/cartographer_grpc/internal/framework/server_test.cc +++ b/cartographer/cloud/internal/framework/server_test.cc @@ -14,14 +14,14 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/server.h" +#include "cartographer/cloud/internal/framework/server.h" #include -#include "cartographer_grpc/internal/framework/client.h" -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/framework/proto/math_service.pb.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/framework/client.h" +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/framework/proto/math_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" #include "glog/logging.h" #include "google/protobuf/descriptor.h" #include "grpc++/grpc++.h" diff --git a/cartographer_grpc/internal/framework/service.cc b/cartographer/cloud/internal/framework/service.cc similarity index 98% rename from cartographer_grpc/internal/framework/service.cc rename to cartographer/cloud/internal/framework/service.cc index 730f124..9305c5b 100644 --- a/cartographer_grpc/internal/framework/service.cc +++ b/cartographer/cloud/internal/framework/service.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/server.h" +#include "cartographer/cloud/internal/framework/server.h" #include diff --git a/cartographer_grpc/internal/framework/service.h b/cartographer/cloud/internal/framework/service.h similarity index 86% rename from cartographer_grpc/internal/framework/service.h rename to cartographer/cloud/internal/framework/service.h index b8113e1..62bcf16 100644 --- a/cartographer_grpc/internal/framework/service.h +++ b/cartographer/cloud/internal/framework/service.h @@ -17,11 +17,11 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H #define CARTOGRAPHER_GRPC_INTERNAL_FRAMEWORK_SERVICE_H -#include "cartographer_grpc/internal/framework/completion_queue_thread.h" -#include "cartographer_grpc/internal/framework/event_queue_thread.h" -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/framework/rpc.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/framework/completion_queue_thread.h" +#include "cartographer/cloud/internal/framework/event_queue_thread.h" +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/framework/rpc.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" #include "grpc++/impl/codegen/service_type.h" namespace cartographer { diff --git a/cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h b/cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h similarity index 94% rename from cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h rename to cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h index 37a3680..0853279 100644 --- a/cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h +++ b/cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h @@ -20,11 +20,11 @@ #include #include +#include "cartographer/cloud/internal/framework/client.h" +#include "cartographer/cloud/internal/framework/rpc_handler_interface.h" +#include "cartographer/cloud/internal/framework/server.h" +#include "cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h" #include "cartographer/common/blocking_queue.h" -#include "cartographer_grpc/internal/framework/client.h" -#include "cartographer_grpc/internal/framework/rpc_handler_interface.h" -#include "cartographer_grpc/internal/framework/server.h" -#include "cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h" #include "grpc++/grpc++.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h b/cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h similarity index 100% rename from cartographer_grpc/internal/framework/testing/rpc_handler_wrapper.h rename to cartographer/cloud/internal/framework/testing/rpc_handler_wrapper.h diff --git a/cartographer_grpc/internal/framework/type_traits.h b/cartographer/cloud/internal/framework/type_traits.h similarity index 100% rename from cartographer_grpc/internal/framework/type_traits.h rename to cartographer/cloud/internal/framework/type_traits.h diff --git a/cartographer_grpc/internal/framework/type_traits_test.cc b/cartographer/cloud/internal/framework/type_traits_test.cc similarity index 95% rename from cartographer_grpc/internal/framework/type_traits_test.cc rename to cartographer/cloud/internal/framework/type_traits_test.cc index 79120b2..157e2cd 100644 --- a/cartographer_grpc/internal/framework/type_traits_test.cc +++ b/cartographer/cloud/internal/framework/type_traits_test.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/framework/type_traits.h" +#include "cartographer/cloud/internal/framework/type_traits.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc similarity index 87% rename from cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc rename to cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc index aae35b5..c5deef5 100644 --- a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.cc +++ b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/fixed_frame_pose_data.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h similarity index 92% rename from cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h rename to cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h index d92af22..b406584 100644 --- a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h +++ b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_FIXED_FRAME_POSE_DATA_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler_test.cc similarity index 92% rename from cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc rename to cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler_test.cc index 88e9941..ffc20f2 100644 --- a/cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler_test.cc +++ b/cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_imu_data_handler.cc b/cartographer/cloud/internal/handlers/add_imu_data_handler.cc similarity index 87% rename from cartographer_grpc/internal/handlers/add_imu_data_handler.cc rename to cartographer/cloud/internal/handlers/add_imu_data_handler.cc index d3f89e0..bed063e 100644 --- a/cartographer_grpc/internal/handlers/add_imu_data_handler.cc +++ b/cartographer/cloud/internal/handlers/add_imu_data_handler.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_imu_data_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/imu_data.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_imu_data_handler.h b/cartographer/cloud/internal/handlers/add_imu_data_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/add_imu_data_handler.h rename to cartographer/cloud/internal/handlers/add_imu_data_handler.h index 0173a9b..c6a703f 100644 --- a/cartographer_grpc/internal/handlers/add_imu_data_handler.h +++ b/cartographer/cloud/internal/handlers/add_imu_data_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_IMU_DATA_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc b/cartographer/cloud/internal/handlers/add_imu_data_handler_test.cc similarity index 92% rename from cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc rename to cartographer/cloud/internal/handlers/add_imu_data_handler_test.cc index 4dc4b97..d6bc5e3 100644 --- a/cartographer_grpc/internal/handlers/add_imu_data_handler_test.cc +++ b/cartographer/cloud/internal/handlers/add_imu_data_handler_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/add_imu_data_handler.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_landmark_data_handler.cc b/cartographer/cloud/internal/handlers/add_landmark_data_handler.cc similarity index 87% rename from cartographer_grpc/internal/handlers/add_landmark_data_handler.cc rename to cartographer/cloud/internal/handlers/add_landmark_data_handler.cc index b042b3a..dbd4b04 100644 --- a/cartographer_grpc/internal/handlers/add_landmark_data_handler.cc +++ b/cartographer/cloud/internal/handlers/add_landmark_data_handler.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/landmark_data.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_landmark_data_handler.h b/cartographer/cloud/internal/handlers/add_landmark_data_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/add_landmark_data_handler.h rename to cartographer/cloud/internal/handlers/add_landmark_data_handler.h index 3961f13..924e9f7 100644 --- a/cartographer_grpc/internal/handlers/add_landmark_data_handler.h +++ b/cartographer/cloud/internal/handlers/add_landmark_data_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LANDMARK_DATA_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc b/cartographer/cloud/internal/handlers/add_landmark_data_handler_test.cc similarity index 93% rename from cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc rename to cartographer/cloud/internal/handlers/add_landmark_data_handler_test.cc index ea46948..08bd211 100644 --- a/cartographer_grpc/internal/handlers/add_landmark_data_handler_test.cc +++ b/cartographer/cloud/internal/handlers/add_landmark_data_handler_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc b/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.cc similarity index 85% rename from cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc rename to cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.cc index ff11e9b..d6dd283 100644 --- a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.cc +++ b/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_node.h" #include "cartographer/sensor/dispatchable.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h b/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h similarity index 92% rename from cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h rename to cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h index 47726c4..8bbf899 100644 --- a/cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h +++ b/cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_LOCAL_SLAM_RESULT_DATA_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_odometry_data_handler.cc b/cartographer/cloud/internal/handlers/add_odometry_data_handler.cc similarity index 87% rename from cartographer_grpc/internal/handlers/add_odometry_data_handler.cc rename to cartographer/cloud/internal/handlers/add_odometry_data_handler.cc index 4772e1d..0b709ae 100644 --- a/cartographer_grpc/internal/handlers/add_odometry_data_handler.cc +++ b/cartographer/cloud/internal/handlers/add_odometry_data_handler.cc @@ -14,15 +14,15 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/odometry_data.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_odometry_data_handler.h b/cartographer/cloud/internal/handlers/add_odometry_data_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/add_odometry_data_handler.h rename to cartographer/cloud/internal/handlers/add_odometry_data_handler.h index 6cad13b..a263323 100644 --- a/cartographer_grpc/internal/handlers/add_odometry_data_handler.h +++ b/cartographer/cloud/internal/handlers/add_odometry_data_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_ODOMETRY_DATA_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc b/cartographer/cloud/internal/handlers/add_odometry_data_handler_test.cc similarity index 92% rename from cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc rename to cartographer/cloud/internal/handlers/add_odometry_data_handler_test.cc index dd30b74..436b899 100644 --- a/cartographer_grpc/internal/handlers/add_odometry_data_handler_test.cc +++ b/cartographer/cloud/internal/handlers/add_odometry_data_handler_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc similarity index 85% rename from cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc rename to cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc index 8a508ca..ac174ca 100644 --- a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.cc +++ b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc @@ -14,14 +14,14 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/sensor/dispatchable.h" #include "cartographer/sensor/timed_point_cloud_data.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h similarity index 92% rename from cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h rename to cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h index ae36ddb..b21d216 100644 --- a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h +++ b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler_test.cc similarity index 89% rename from cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc rename to cartographer/cloud/internal/handlers/add_rangefinder_data_handler_test.cc index 3c70355..733467e 100644 --- a/cartographer_grpc/internal/handlers/add_rangefinder_data_handler_test.cc +++ b/cartographer/cloud/internal/handlers/add_rangefinder_data_handler_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/add_trajectory_handler.cc b/cartographer/cloud/internal/handlers/add_trajectory_handler.cc similarity index 88% rename from cartographer_grpc/internal/handlers/add_trajectory_handler.cc rename to cartographer/cloud/internal/handlers/add_trajectory_handler.cc index 13cee9e..11311a7 100644 --- a/cartographer_grpc/internal/handlers/add_trajectory_handler.cc +++ b/cartographer/cloud/internal/handlers/add_trajectory_handler.cc @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/add_trajectory_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/handlers/add_trajectory_handler.h b/cartographer/cloud/internal/handlers/add_trajectory_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/add_trajectory_handler.h rename to cartographer/cloud/internal/handlers/add_trajectory_handler.h index c276f57..dacc465 100644 --- a/cartographer_grpc/internal/handlers/add_trajectory_handler.h +++ b/cartographer/cloud/internal/handlers/add_trajectory_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_ADD_TRAJECTORY_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc b/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc similarity index 93% rename from cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc rename to cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc index cfed50a..a02c9ef 100644 --- a/cartographer_grpc/internal/handlers/add_trajectory_handler_test.cc +++ b/cartographer/cloud/internal/handlers/add_trajectory_handler_test.cc @@ -14,11 +14,11 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/mock_map_builder.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/add_trajectory_handler.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/mock_map_builder.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/finish_trajectory_handler.cc b/cartographer/cloud/internal/handlers/finish_trajectory_handler.cc similarity index 84% rename from cartographer_grpc/internal/handlers/finish_trajectory_handler.cc rename to cartographer/cloud/internal/handlers/finish_trajectory_handler.cc index b6d8626..c7f9b0d 100644 --- a/cartographer_grpc/internal/handlers/finish_trajectory_handler.cc +++ b/cartographer/cloud/internal/handlers/finish_trajectory_handler.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/finish_trajectory_handler.h b/cartographer/cloud/internal/handlers/finish_trajectory_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/finish_trajectory_handler.h rename to cartographer/cloud/internal/handlers/finish_trajectory_handler.h index 0fb9a1f..6568039 100644 --- a/cartographer_grpc/internal/handlers/finish_trajectory_handler.h +++ b/cartographer/cloud/internal/handlers/finish_trajectory_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_FINISH_TRAJECTORY_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_all_submap_poses.cc b/cartographer/cloud/internal/handlers/get_all_submap_poses.cc similarity index 85% rename from cartographer_grpc/internal/handlers/get_all_submap_poses.cc rename to cartographer/cloud/internal/handlers/get_all_submap_poses.cc index 65f216c..c6e81f4 100644 --- a/cartographer_grpc/internal/handlers/get_all_submap_poses.cc +++ b/cartographer/cloud/internal/handlers/get_all_submap_poses.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" +#include "cartographer/cloud/internal/handlers/get_all_submap_poses.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_all_submap_poses.h b/cartographer/cloud/internal/handlers/get_all_submap_poses.h similarity index 91% rename from cartographer_grpc/internal/handlers/get_all_submap_poses.h rename to cartographer/cloud/internal/handlers/get_all_submap_poses.h index bd13d2d..08450ae 100644 --- a/cartographer_grpc/internal/handlers/get_all_submap_poses.h +++ b/cartographer/cloud/internal/handlers/get_all_submap_poses.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_ALL_SUBMAP_POSES_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_constraints_handler.cc b/cartographer/cloud/internal/handlers/get_constraints_handler.cc similarity index 84% rename from cartographer_grpc/internal/handlers/get_constraints_handler.cc rename to cartographer/cloud/internal/handlers/get_constraints_handler.cc index 159bd2b..e26bab5 100644 --- a/cartographer_grpc/internal/handlers/get_constraints_handler.cc +++ b/cartographer/cloud/internal/handlers/get_constraints_handler.cc @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_constraints_handler.h" +#include "cartographer/cloud/internal/handlers/get_constraints_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/mapping/pose_graph.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_constraints_handler.h b/cartographer/cloud/internal/handlers/get_constraints_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/get_constraints_handler.h rename to cartographer/cloud/internal/handlers/get_constraints_handler.h index a96c687..db0a110 100644 --- a/cartographer_grpc/internal/handlers/get_constraints_handler.h +++ b/cartographer/cloud/internal/handlers/get_constraints_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_CONSTRAINTS_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc similarity index 84% rename from cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc rename to cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc index d45b8cd..cbf88a2 100644 --- a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.cc +++ b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" +#include "cartographer/cloud/internal/handlers/get_landmark_poses_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.h b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/get_landmark_poses_handler.h rename to cartographer/cloud/internal/handlers/get_landmark_poses_handler.h index 939bd58..f9b4dbe 100644 --- a/cartographer_grpc/internal/handlers/get_landmark_poses_handler.h +++ b/cartographer/cloud/internal/handlers/get_landmark_poses_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LANDMARK_POSES_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc b/cartographer/cloud/internal/handlers/get_landmark_poses_handler_test.cc similarity index 91% rename from cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc rename to cartographer/cloud/internal/handlers/get_landmark_poses_handler_test.cc index 144e315..169e56e 100644 --- a/cartographer_grpc/internal/handlers/get_landmark_poses_handler_test.cc +++ b/cartographer/cloud/internal/handlers/get_landmark_poses_handler_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" -#include "cartographer_grpc/internal/testing/handler_test.h" -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/handlers/get_landmark_poses_handler.h" +#include "cartographer/cloud/internal/testing/handler_test.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" #include "google/protobuf/text_format.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc similarity index 81% rename from cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc rename to cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc index c119931..e00ad9d 100644 --- a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.cc +++ b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.cc @@ -14,11 +14,11 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h" +#include "cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h similarity index 92% rename from cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h rename to cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h index c4946ab..8d047fc 100644 --- a/cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h +++ b/cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_submap_handler.cc b/cartographer/cloud/internal/handlers/get_submap_handler.cc similarity index 83% rename from cartographer_grpc/internal/handlers/get_submap_handler.cc rename to cartographer/cloud/internal/handlers/get_submap_handler.cc index fa4670d..bde4d1d 100644 --- a/cartographer_grpc/internal/handlers/get_submap_handler.cc +++ b/cartographer/cloud/internal/handlers/get_submap_handler.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_submap_handler.h" +#include "cartographer/cloud/internal/handlers/get_submap_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_submap_handler.h b/cartographer/cloud/internal/handlers/get_submap_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/get_submap_handler.h rename to cartographer/cloud/internal/handlers/get_submap_handler.h index 36404f2..3293955 100644 --- a/cartographer_grpc/internal/handlers/get_submap_handler.h +++ b/cartographer/cloud/internal/handlers/get_submap_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_SUBMAP_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc similarity index 84% rename from cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc rename to cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc index 6d5bb3f..58af67e 100644 --- a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.cc +++ b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h" +#include "cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h rename to cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h index 7b8bc39..30f26f5 100644 --- a/cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h +++ b/cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/load_state_handler.cc b/cartographer/cloud/internal/handlers/load_state_handler.cc similarity index 86% rename from cartographer_grpc/internal/handlers/load_state_handler.cc rename to cartographer/cloud/internal/handlers/load_state_handler.cc index 94b095a..3bb3330 100644 --- a/cartographer_grpc/internal/handlers/load_state_handler.cc +++ b/cartographer/cloud/internal/handlers/load_state_handler.cc @@ -14,13 +14,13 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/load_state_handler.h" +#include "cartographer/cloud/internal/handlers/load_state_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/io/in_memory_proto_stream.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/load_state_handler.h b/cartographer/cloud/internal/handlers/load_state_handler.h similarity index 92% rename from cartographer_grpc/internal/handlers/load_state_handler.h rename to cartographer/cloud/internal/handlers/load_state_handler.h index 21a9f6a..de6e49f 100644 --- a/cartographer_grpc/internal/handlers/load_state_handler.h +++ b/cartographer/cloud/internal/handlers/load_state_handler.h @@ -17,9 +17,9 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_LOAD_STATE_HANDLER_H +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/io/in_memory_proto_stream.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc similarity index 90% rename from cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc rename to cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc index 2f5281c..cbe88fa 100644 --- a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.cc +++ b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.cc @@ -14,12 +14,12 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" +#include "cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h similarity index 88% rename from cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h rename to cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h index cf7bf09..f3681b1 100644 --- a/cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h +++ b/cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h @@ -19,9 +19,9 @@ #include -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/handlers/run_final_optimization_handler.cc b/cartographer/cloud/internal/handlers/run_final_optimization_handler.cc similarity index 81% rename from cartographer_grpc/internal/handlers/run_final_optimization_handler.cc rename to cartographer/cloud/internal/handlers/run_final_optimization_handler.cc index e8fe4b3..e926b6f 100644 --- a/cartographer_grpc/internal/handlers/run_final_optimization_handler.cc +++ b/cartographer/cloud/internal/handlers/run_final_optimization_handler.cc @@ -14,14 +14,14 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h" +#include "cartographer/cloud/internal/handlers/run_final_optimization_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/mapping/map_builder_interface.h" #include "cartographer/mapping/pose_graph.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/run_final_optimization_handler.h b/cartographer/cloud/internal/handlers/run_final_optimization_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/run_final_optimization_handler.h rename to cartographer/cloud/internal/handlers/run_final_optimization_handler.h index 0faa73e..3b927cd 100644 --- a/cartographer_grpc/internal/handlers/run_final_optimization_handler.h +++ b/cartographer/cloud/internal/handlers/run_final_optimization_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_RUN_FINAL_OPTIMIZATION_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/handlers/write_state_handler.cc b/cartographer/cloud/internal/handlers/write_state_handler.cc similarity index 86% rename from cartographer_grpc/internal/handlers/write_state_handler.cc rename to cartographer/cloud/internal/handlers/write_state_handler.cc index 9285fdb..158d942 100644 --- a/cartographer_grpc/internal/handlers/write_state_handler.cc +++ b/cartographer/cloud/internal/handlers/write_state_handler.cc @@ -14,14 +14,14 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/handlers/write_state_handler.h" +#include "cartographer/cloud/internal/handlers/write_state_handler.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/internal/map_builder_context_interface.h" +#include "cartographer/cloud/internal/map_builder_server.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" #include "cartographer/io/in_memory_proto_stream.h" -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" -#include "cartographer_grpc/internal/map_builder_server.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/handlers/write_state_handler.h b/cartographer/cloud/internal/handlers/write_state_handler.h similarity index 91% rename from cartographer_grpc/internal/handlers/write_state_handler.h rename to cartographer/cloud/internal/handlers/write_state_handler.h index 2076fb0..7433675 100644 --- a/cartographer_grpc/internal/handlers/write_state_handler.h +++ b/cartographer/cloud/internal/handlers/write_state_handler.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H #define CARTOGRAPHER_GRPC_INTERNAL_HANDLERS_WRITE_STATE_HANDLER_H -#include "cartographer_grpc/internal/framework/rpc_handler.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" +#include "cartographer/cloud/internal/framework/rpc_handler.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "google/protobuf/empty.pb.h" namespace cartographer { diff --git a/cartographer_grpc/internal/local_trajectory_uploader.cc b/cartographer/cloud/internal/local_trajectory_uploader.cc similarity index 92% rename from cartographer_grpc/internal/local_trajectory_uploader.cc rename to cartographer/cloud/internal/local_trajectory_uploader.cc index 82a51cb..090ce3a 100644 --- a/cartographer_grpc/internal/local_trajectory_uploader.cc +++ b/cartographer/cloud/internal/local_trajectory_uploader.cc @@ -14,22 +14,22 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/local_trajectory_uploader.h" +#include "cartographer/cloud/internal/local_trajectory_uploader.h" #include #include +#include "cartographer/cloud/internal/framework/client.h" +#include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_imu_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h" +#include "cartographer/cloud/internal/sensor/serialization.h" +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/client.h" -#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" -#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" -#include "cartographer_grpc/internal/sensor/serialization.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "glog/logging.h" #include "grpc++/grpc++.h" diff --git a/cartographer_grpc/internal/local_trajectory_uploader.h b/cartographer/cloud/internal/local_trajectory_uploader.h similarity index 100% rename from cartographer_grpc/internal/local_trajectory_uploader.h rename to cartographer/cloud/internal/local_trajectory_uploader.h diff --git a/cartographer_grpc/internal/map_builder_context.cc b/cartographer/cloud/internal/map_builder_context.cc similarity index 98% rename from cartographer_grpc/internal/map_builder_context.cc rename to cartographer/cloud/internal/map_builder_context.cc index d7ab135..7b6b4e7 100644 --- a/cartographer_grpc/internal/map_builder_context.cc +++ b/cartographer/cloud/internal/map_builder_context.cc @@ -14,9 +14,9 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/map_builder_context.h" +#include "cartographer/cloud/internal/map_builder_context.h" -#include "cartographer_grpc/internal/map_builder_server.h" +#include "cartographer/cloud/internal/map_builder_server.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/map_builder_context.h b/cartographer/cloud/internal/map_builder_context.h similarity index 97% rename from cartographer_grpc/internal/map_builder_context.h rename to cartographer/cloud/internal/map_builder_context.h index 56891bb..b0c31d3 100644 --- a/cartographer_grpc/internal/map_builder_context.h +++ b/cartographer/cloud/internal/map_builder_context.h @@ -17,9 +17,9 @@ #ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H #define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H +#include "cartographer/cloud/internal/map_builder_context_interface.h" #include "cartographer/mapping/2d/submap_2d.h" #include "cartographer/mapping/3d/submap_3d.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/map_builder_context_interface.h b/cartographer/cloud/internal/map_builder_context_interface.h similarity index 96% rename from cartographer_grpc/internal/map_builder_context_interface.h rename to cartographer/cloud/internal/map_builder_context_interface.h index 1304ccb..5723032 100644 --- a/cartographer_grpc/internal/map_builder_context_interface.h +++ b/cartographer/cloud/internal/map_builder_context_interface.h @@ -17,13 +17,13 @@ #ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H #define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/local_trajectory_uploader.h" #include "cartographer/common/blocking_queue.h" #include "cartographer/mapping/map_builder_interface.h" #include "cartographer/sensor/data.h" #include "cartographer/sensor/range_data.h" #include "cartographer/transform/rigid_transform.h" -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/local_trajectory_uploader.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/map_builder_server.cc b/cartographer/cloud/internal/map_builder_server.cc similarity index 83% rename from cartographer_grpc/internal/map_builder_server.cc rename to cartographer/cloud/internal/map_builder_server.cc index 2a5809a..b71fd3d 100644 --- a/cartographer_grpc/internal/map_builder_server.cc +++ b/cartographer/cloud/internal/map_builder_server.cc @@ -14,27 +14,27 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/map_builder_server.h" +#include "cartographer/cloud/internal/map_builder_server.h" -#include "cartographer_grpc/internal/handlers/add_fixed_frame_pose_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_imu_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_landmark_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_local_slam_result_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_odometry_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_rangefinder_data_handler.h" -#include "cartographer_grpc/internal/handlers/add_trajectory_handler.h" -#include "cartographer_grpc/internal/handlers/finish_trajectory_handler.h" -#include "cartographer_grpc/internal/handlers/get_all_submap_poses.h" -#include "cartographer_grpc/internal/handlers/get_constraints_handler.h" -#include "cartographer_grpc/internal/handlers/get_landmark_poses_handler.h" -#include "cartographer_grpc/internal/handlers/get_local_to_global_transform_handler.h" -#include "cartographer_grpc/internal/handlers/get_submap_handler.h" -#include "cartographer_grpc/internal/handlers/get_trajectory_node_poses_handler.h" -#include "cartographer_grpc/internal/handlers/load_state_handler.h" -#include "cartographer_grpc/internal/handlers/receive_local_slam_results_handler.h" -#include "cartographer_grpc/internal/handlers/run_final_optimization_handler.h" -#include "cartographer_grpc/internal/handlers/write_state_handler.h" -#include "cartographer_grpc/internal/sensor/serialization.h" +#include "cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_imu_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_landmark_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_odometry_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_rangefinder_data_handler.h" +#include "cartographer/cloud/internal/handlers/add_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/finish_trajectory_handler.h" +#include "cartographer/cloud/internal/handlers/get_all_submap_poses.h" +#include "cartographer/cloud/internal/handlers/get_constraints_handler.h" +#include "cartographer/cloud/internal/handlers/get_landmark_poses_handler.h" +#include "cartographer/cloud/internal/handlers/get_local_to_global_transform_handler.h" +#include "cartographer/cloud/internal/handlers/get_submap_handler.h" +#include "cartographer/cloud/internal/handlers/get_trajectory_node_poses_handler.h" +#include "cartographer/cloud/internal/handlers/load_state_handler.h" +#include "cartographer/cloud/internal/handlers/receive_local_slam_results_handler.h" +#include "cartographer/cloud/internal/handlers/run_final_optimization_handler.h" +#include "cartographer/cloud/internal/handlers/write_state_handler.h" +#include "cartographer/cloud/internal/sensor/serialization.h" #include "glog/logging.h" namespace cartographer { diff --git a/cartographer_grpc/internal/map_builder_server.h b/cartographer/cloud/internal/map_builder_server.h similarity index 90% rename from cartographer_grpc/internal/map_builder_server.h rename to cartographer/cloud/internal/map_builder_server.h index 962c80d..74ea6bc 100644 --- a/cartographer_grpc/internal/map_builder_server.h +++ b/cartographer/cloud/internal/map_builder_server.h @@ -17,18 +17,18 @@ #ifndef CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H #define CARTOGRAPHER_GRPC_MAP_BUILDER_SERVER_H +#include "cartographer/cloud/internal/framework/execution_context.h" +#include "cartographer/cloud/internal/framework/server.h" +#include "cartographer/cloud/internal/local_trajectory_uploader.h" +#include "cartographer/cloud/internal/map_builder_context.h" +#include "cartographer/cloud/map_builder_server_interface.h" +#include "cartographer/cloud/proto/map_builder_server_options.pb.h" #include "cartographer/common/blocking_queue.h" #include "cartographer/common/time.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/map_builder.h" #include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/sensor/dispatchable.h" -#include "cartographer_grpc/internal/framework/execution_context.h" -#include "cartographer_grpc/internal/framework/server.h" -#include "cartographer_grpc/internal/local_trajectory_uploader.h" -#include "cartographer_grpc/internal/map_builder_context.h" -#include "cartographer_grpc/map_builder_server_interface.h" -#include "cartographer_grpc/proto/map_builder_server_options.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/sensor/serialization.cc b/cartographer/cloud/internal/sensor/serialization.cc similarity index 98% rename from cartographer_grpc/internal/sensor/serialization.cc rename to cartographer/cloud/internal/sensor/serialization.cc index a766bdb..9b20d06 100644 --- a/cartographer_grpc/internal/sensor/serialization.cc +++ b/cartographer/cloud/internal/sensor/serialization.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/sensor/serialization.h" +#include "cartographer/cloud/internal/sensor/serialization.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/sensor/serialization.h b/cartographer/cloud/internal/sensor/serialization.h similarity index 97% rename from cartographer_grpc/internal/sensor/serialization.h rename to cartographer/cloud/internal/sensor/serialization.h index 98f2444..f16f6d7 100644 --- a/cartographer_grpc/internal/sensor/serialization.h +++ b/cartographer/cloud/internal/sensor/serialization.h @@ -17,6 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H #define CARTOGRAPHER_GRPC_INTERNAL_SENSOR_SERIALIZATION_H +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/mapping/local_slam_result_data.h" #include "cartographer/mapping/trajectory_builder_interface.h" #include "cartographer/sensor/fixed_frame_pose_data.h" @@ -24,7 +25,6 @@ #include "cartographer/sensor/landmark_data.h" #include "cartographer/sensor/odometry_data.h" #include "cartographer/sensor/timed_point_cloud_data.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/testing/handler_test.h b/cartographer/cloud/internal/testing/handler_test.h similarity index 97% rename from cartographer_grpc/internal/testing/handler_test.h rename to cartographer/cloud/internal/testing/handler_test.h index 746313d..5d3441a 100644 --- a/cartographer_grpc/internal/testing/handler_test.h +++ b/cartographer/cloud/internal/testing/handler_test.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_HANDLER_TEST_H +#include "cartographer/cloud/internal/framework/testing/rpc_handler_test_server.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/framework/testing/rpc_handler_test_server.h" #include "gtest/gtest.h" #include "mock_local_trajectory_uploader.h" #include "mock_map_builder.h" diff --git a/cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h b/cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h similarity index 96% rename from cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h rename to cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h index 1f89b52..d27ccac 100644 --- a/cartographer_grpc/internal/testing/mock_local_trajectory_uploader.h +++ b/cartographer/cloud/internal/testing/mock_local_trajectory_uploader.h @@ -17,7 +17,7 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_LOCAL_TRAJECTORY_UPLOADER_H -#include "cartographer_grpc/internal/local_trajectory_uploader.h" +#include "cartographer/cloud/internal/local_trajectory_uploader.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/testing/mock_map_builder.h b/cartographer/cloud/internal/testing/mock_map_builder.h similarity index 100% rename from cartographer_grpc/internal/testing/mock_map_builder.h rename to cartographer/cloud/internal/testing/mock_map_builder.h diff --git a/cartographer_grpc/internal/testing/mock_map_builder_context.h b/cartographer/cloud/internal/testing/mock_map_builder_context.h similarity index 97% rename from cartographer_grpc/internal/testing/mock_map_builder_context.h rename to cartographer/cloud/internal/testing/mock_map_builder_context.h index 9a7c24b..240cea8 100644 --- a/cartographer_grpc/internal/testing/mock_map_builder_context.h +++ b/cartographer/cloud/internal/testing/mock_map_builder_context.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_MOCK_MAP_BUILDER_CONTEXT_H +#include "cartographer/cloud/internal/map_builder_context_interface.h" #include "cartographer/mapping/local_slam_result_data.h" -#include "cartographer_grpc/internal/map_builder_context_interface.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/internal/testing/mock_pose_graph.h b/cartographer/cloud/internal/testing/mock_pose_graph.h similarity index 100% rename from cartographer_grpc/internal/testing/mock_pose_graph.h rename to cartographer/cloud/internal/testing/mock_pose_graph.h diff --git a/cartographer_grpc/internal/testing/mock_trajectory_builder.h b/cartographer/cloud/internal/testing/mock_trajectory_builder.h similarity index 100% rename from cartographer_grpc/internal/testing/mock_trajectory_builder.h rename to cartographer/cloud/internal/testing/mock_trajectory_builder.h diff --git a/cartographer_grpc/internal/testing/test_helpers.cc b/cartographer/cloud/internal/testing/test_helpers.cc similarity index 98% rename from cartographer_grpc/internal/testing/test_helpers.cc rename to cartographer/cloud/internal/testing/test_helpers.cc index 0b4ee2c..1d84c4d 100644 --- a/cartographer_grpc/internal/testing/test_helpers.cc +++ b/cartographer/cloud/internal/testing/test_helpers.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/internal/testing/test_helpers.h" +#include "cartographer/cloud/internal/testing/test_helpers.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/internal/testing/test_helpers.h b/cartographer/cloud/internal/testing/test_helpers.h similarity index 97% rename from cartographer_grpc/internal/testing/test_helpers.h rename to cartographer/cloud/internal/testing/test_helpers.h index bd61e9e..d008f46 100644 --- a/cartographer_grpc/internal/testing/test_helpers.h +++ b/cartographer/cloud/internal/testing/test_helpers.h @@ -17,8 +17,8 @@ #ifndef CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H #define CARTOGRAPHER_GRPC_INTERNAL_TESTING_TEST_HELPERS_H +#include "cartographer/cloud/proto/map_builder_service.pb.h" #include "cartographer/sensor/dispatchable.h" -#include "cartographer_grpc/proto/map_builder_service.pb.h" #include "google/protobuf/util/message_differencer.h" namespace cartographer { diff --git a/cartographer_grpc/map_builder_server_interface.cc b/cartographer/cloud/map_builder_server_interface.cc similarity index 80% rename from cartographer_grpc/map_builder_server_interface.cc rename to cartographer/cloud/map_builder_server_interface.cc index 823c335..7a24962 100644 --- a/cartographer_grpc/map_builder_server_interface.cc +++ b/cartographer/cloud/map_builder_server_interface.cc @@ -1,7 +1,7 @@ -#include "cartographer_grpc/map_builder_server_interface.h" +#include "cartographer/cloud/map_builder_server_interface.h" +#include "cartographer/cloud/internal/map_builder_server.h" #include "cartographer/common/make_unique.h" -#include "cartographer_grpc/internal/map_builder_server.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/map_builder_server_interface.h b/cartographer/cloud/map_builder_server_interface.h similarity index 96% rename from cartographer_grpc/map_builder_server_interface.h rename to cartographer/cloud/map_builder_server_interface.h index bd00cab..2590da3 100644 --- a/cartographer_grpc/map_builder_server_interface.h +++ b/cartographer/cloud/map_builder_server_interface.h @@ -19,8 +19,8 @@ #include +#include "cartographer/cloud/proto/map_builder_server_options.pb.h" #include "cartographer/mapping/map_builder_interface.h" -#include "cartographer_grpc/proto/map_builder_server_options.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/map_builder_server_main.cc b/cartographer/cloud/map_builder_server_main.cc similarity index 94% rename from cartographer_grpc/map_builder_server_main.cc rename to cartographer/cloud/map_builder_server_main.cc index 8d19836..eb6db6d 100644 --- a/cartographer_grpc/map_builder_server_main.cc +++ b/cartographer/cloud/map_builder_server_main.cc @@ -14,14 +14,14 @@ * limitations under the License. */ +#include "cartographer/cloud/map_builder_server_interface.h" +#include "cartographer/cloud/map_builder_server_options.h" #include "cartographer/mapping/map_builder.h" #include "cartographer/metrics/register.h" -#include "cartographer_grpc/map_builder_server_interface.h" -#include "cartographer_grpc/map_builder_server_options.h" #include "gflags/gflags.h" #include "glog/logging.h" #if USE_PROMETHEUS -#include "cartographer_grpc/metrics/prometheus/family_factory.h" +#include "cartographer/cloud/metrics/prometheus/family_factory.h" #include "prometheus/exposer.h" #endif diff --git a/cartographer_grpc/map_builder_server_options.cc b/cartographer/cloud/map_builder_server_options.cc similarity index 97% rename from cartographer_grpc/map_builder_server_options.cc rename to cartographer/cloud/map_builder_server_options.cc index 08af3b6..4ea8ffa 100644 --- a/cartographer_grpc/map_builder_server_options.cc +++ b/cartographer/cloud/map_builder_server_options.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/map_builder_server_options.h" +#include "cartographer/cloud/map_builder_server_options.h" #include "cartographer/common/configuration_file_resolver.h" #include "cartographer/common/make_unique.h" diff --git a/cartographer_grpc/map_builder_server_options.h b/cartographer/cloud/map_builder_server_options.h similarity index 94% rename from cartographer_grpc/map_builder_server_options.h rename to cartographer/cloud/map_builder_server_options.h index 3a6f1f6..93e8854 100644 --- a/cartographer_grpc/map_builder_server_options.h +++ b/cartographer/cloud/map_builder_server_options.h @@ -19,8 +19,8 @@ #include +#include "cartographer/cloud/proto/map_builder_server_options.pb.h" #include "cartographer/common/lua_parameter_dictionary.h" -#include "cartographer_grpc/proto/map_builder_server_options.pb.h" namespace cartographer { namespace cloud { diff --git a/cartographer_grpc/metrics/prometheus/family_factory.cc b/cartographer/cloud/metrics/prometheus/family_factory.cc similarity index 98% rename from cartographer_grpc/metrics/prometheus/family_factory.cc rename to cartographer/cloud/metrics/prometheus/family_factory.cc index 497291e..1c02199 100644 --- a/cartographer_grpc/metrics/prometheus/family_factory.cc +++ b/cartographer/cloud/metrics/prometheus/family_factory.cc @@ -14,7 +14,7 @@ * limitations under the License. */ -#include "cartographer_grpc/metrics/prometheus/family_factory.h" +#include "cartographer/cloud/metrics/prometheus/family_factory.h" #include "cartographer/common/make_unique.h" #include "prometheus/counter.h" diff --git a/cartographer_grpc/metrics/prometheus/family_factory.h b/cartographer/cloud/metrics/prometheus/family_factory.h similarity index 100% rename from cartographer_grpc/metrics/prometheus/family_factory.h rename to cartographer/cloud/metrics/prometheus/family_factory.h diff --git a/cartographer_grpc/metrics/prometheus/metrics_test.cc b/cartographer/cloud/metrics/prometheus/metrics_test.cc similarity index 98% rename from cartographer_grpc/metrics/prometheus/metrics_test.cc rename to cartographer/cloud/metrics/prometheus/metrics_test.cc index ed1f6f2..941b71c 100644 --- a/cartographer_grpc/metrics/prometheus/metrics_test.cc +++ b/cartographer/cloud/metrics/prometheus/metrics_test.cc @@ -14,9 +14,9 @@ * limitations under the License. */ +#include "cartographer/cloud/metrics/prometheus/family_factory.h" #include "cartographer/metrics/family_factory.h" #include "cartographer/metrics/register.h" -#include "cartographer_grpc/metrics/prometheus/family_factory.h" #include "glog/logging.h" #include "gmock/gmock.h" #include "gtest/gtest.h" diff --git a/cartographer_grpc/proto/map_builder_server_options.proto b/cartographer/cloud/proto/map_builder_server_options.proto similarity index 100% rename from cartographer_grpc/proto/map_builder_server_options.proto rename to cartographer/cloud/proto/map_builder_server_options.proto diff --git a/cartographer_grpc/proto/map_builder_service.proto b/cartographer/cloud/proto/map_builder_service.proto similarity index 100% rename from cartographer_grpc/proto/map_builder_service.proto rename to cartographer/cloud/proto/map_builder_service.proto