Commit Graph

27 Commits (9ca06bd06bad8e84e0d5a49f660dcfd876a79643)

Author SHA1 Message Date
gaschler 731bc89f22 Move handlers to cc, use MapBuilderContextInterface ()
This is to avoid a circular dependency with LocalTrajectoryUploader and to clean up.
2018-02-01 14:34:41 +01:00
Christoph Schütte 60e9fa59fe
Implement AddImuDataHandlerTest ()
This PR introduces first gRPC handler test that takes advantage of new RpcHandlerTestServer.
2018-02-01 13:05:08 +01:00
Christoph Schütte eb3e63bad6 Implement WriteMapHandler. () 2018-02-01 11:21:50 +01:00
Christoph Schütte 27e8c84f2e Introduce MapBuilderContextInterface () 2018-01-31 19:22:08 +01:00
Christoph Schütte 9aecf23a37 Simplify Handler registration. () 2018-01-31 12:26:56 +01:00
gaschler dab69e0ca0 Struct SensorId ()
* WIP, started unordered_set<SensorId>

* struct SensorId. Works for cartographer without grpc.

* correct test

* SensorId in cartographer_grpc/

* clean up

* try to fix for trusty

* SensorId::operator==

* Ran clang-format.
2018-01-26 15:07:49 +01:00
Alexander Belyaev 1d2613c8e2 Add gRPC version of RunFinalOptimization(). () 2018-01-25 17:31:03 +01:00
Alexander Belyaev 37ddf9e550 Add gRPC version of LoadMap(). ()
Later they will be used in map_builder_stub and load_map_handler.
2018-01-25 09:27:42 +01:00
Alexander Belyaev 9e30c1e0cd
Send LandmarkData via gRPC. ()
* Send LandmarkData via gRPC.

[RFC PR](https://github.com/googlecartographer/rfcs/pull/18)

* Fix the nits.
2018-01-19 17:24:30 +01:00
Christoph Schütte 712c7e3e39 Fix namespace of serialization functions. () 2018-01-16 12:20:15 +01:00
Christoph Schütte c053fc7a2f Implement sensor data forwarding. () 2018-01-15 15:31:33 +01:00
Christoph Schütte f49e798ef9 Start DataUploader implementation, implement Add/FinishTrajectory ()
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
2018-01-12 23:16:29 +01:00
Christoph Schütte fee77c8a99 Add LocalSlamResultData retrieval and submap management ()
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
2018-01-12 13:00:25 +01:00
Christoph Schütte d313af8674
Add InsertionResult to LocalSlamResult. () 2018-01-10 17:26:04 +01:00
Christoph Schütte 8165da873f Add GetConstraints() to gRPC service. () 2018-01-09 14:25:28 +01:00
Christoph Schütte bd2fbbf1a1 Implement GetLocalToGlobalTransform() in gRPC service () 2018-01-08 16:28:41 +01:00
Christoph Schütte d240261701 Add GetAllSubmapPoses to gRPC interface. () 2018-01-08 15:34:00 +01:00
Christoph Schütte 78d05bf745 Add GetTrajectoryNodePoses() to gRPC service () 2018-01-08 14:19:39 +01:00
Christoph Schütte d57c2441b8 Implement gRPC submap query. () 2018-01-08 13:52:14 +01:00
gaschler 923d643b86 Fix obvious asan warnings. ()
Adds a few missing overrides and removes a std::move that
prevented copy elision.
2018-01-05 10:18:08 +01:00
gaschler f5e99089a9 Notify LocalSlamResults subscription ends. ()
[RFC=0002](https://github.com/googlecartographer/rfcs/blob/master/text/0002-cloud-based-mapping-1.md)
PAIR=cschuet
2017-12-20 11:42:01 +01:00
Christoph Schütte e0faf7094e Change MapBuilderServer::LocalSlamSubscriptionCallback ()
PAIR=gaschler
2017-12-20 09:46:54 +01:00
Christoph Schütte 02734c296d Implement ReceiveLocalSlamResultsHandler. () 2017-12-19 15:11:29 +01:00
Christoph Schütte 03751b3c9f Implement local SLAM subscriptions in MapBuilderServer () 2017-12-18 16:32:34 +01:00
gaschler d49706944f FixedFramePoseData in gRPC server ()
Defines the FixedFramePoseData RPC and implements
the handler for the gRPC server.
2017-12-15 15:26:58 +01:00
Christoph Schütte bf77b11645 Implement gRPC data handlers and SLAM thread. () 2017-12-12 22:36:44 +01:00
Christoph Schütte ded778cd34
Implementation of Add/FinishTrajectoryHandler. () 2017-12-05 16:36:54 +01:00