50 lines
1.8 KiB
C++
50 lines
1.8 KiB
C++
/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
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namespace cartographer_grpc {
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namespace handlers {
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class GetLocalToGlobalTransformHandler
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: public framework::RpcHandler<proto::GetLocalToGlobalTransformRequest,
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proto::GetLocalToGlobalTransformResponse> {
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public:
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std::string method_name() const override {
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return "/cartographer_grpc.proto.MapBuilderService/"
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"GetLocalToGlobalTransform";
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}
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void OnRequest(
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const proto::GetLocalToGlobalTransformRequest& request) override {
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auto response = cartographer::common::make_unique<
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proto::GetLocalToGlobalTransformResponse>();
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auto local_to_global =
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GetContext<MapBuilderServer::MapBuilderContext>()
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->map_builder()
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.pose_graph()
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->GetLocalToGlobalTransform(request.trajectory_id());
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*response->mutable_local_to_global() =
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cartographer::transform::ToProto(local_to_global);
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Send(std::move(response));
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
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