118 lines
4.4 KiB
C++
118 lines
4.4 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_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_IMPL_H
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#define CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_IMPL_H
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namespace cartographer {
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namespace cloud {
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template <class SubmapType>
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MapBuilderContext<SubmapType>::MapBuilderContext(
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MapBuilderServer* map_builder_server)
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: map_builder_server_(map_builder_server) {}
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template <class SubmapType>
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mapping::MapBuilderInterface& MapBuilderContext<SubmapType>::map_builder() {
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return *map_builder_server_->map_builder_;
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}
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template <class SubmapType>
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common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data>>&
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MapBuilderContext<SubmapType>::sensor_data_queue() {
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return map_builder_server_->incoming_data_queue_;
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}
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template <class SubmapType>
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mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
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MapBuilderContext<SubmapType>::GetLocalSlamResultCallbackForSubscriptions() {
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MapBuilderServer* map_builder_server = map_builder_server_;
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return [map_builder_server](
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int trajectory_id, common::Time time,
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transform::Rigid3d local_pose, sensor::RangeData range_data,
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std::unique_ptr<
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const mapping::TrajectoryBuilderInterface::InsertionResult>
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insertion_result) {
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map_builder_server->OnLocalSlamResult(trajectory_id, time, local_pose,
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std::move(range_data),
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std::move(insertion_result));
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};
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::AddSensorDataToTrajectory(
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const Data& sensor_data) {
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sensor_data.data->AddToTrajectoryBuilder(
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map_builder_server_->map_builder_->GetTrajectoryBuilder(
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sensor_data.trajectory_id));
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}
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template <class SubmapType>
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MapBuilderContextInterface::SubscriptionId
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MapBuilderContext<SubmapType>::SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) {
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return map_builder_server_->SubscribeLocalSlamResults(trajectory_id,
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callback);
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) {
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map_builder_server_->UnsubscribeLocalSlamResults(subscription_id);
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::NotifyFinishTrajectory(int trajectory_id) {
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map_builder_server_->NotifyFinishTrajectory(trajectory_id);
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}
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template <class SubmapType>
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LocalTrajectoryUploaderInterface*
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MapBuilderContext<SubmapType>::local_trajectory_uploader() {
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return map_builder_server_->local_trajectory_uploader_.get();
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::EnqueueSensorData(
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int trajectory_id, std::unique_ptr<sensor::Data> data) {
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map_builder_server_->incoming_data_queue_.Push(
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common::make_unique<Data>(Data{trajectory_id, std::move(data)}));
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}
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template <class SubmapType>
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void MapBuilderContext<SubmapType>::EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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std::unique_ptr<mapping::LocalSlamResultData> local_slam_result_data) {
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map_builder_server_->incoming_data_queue_.Push(common::make_unique<Data>(
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Data{trajectory_id, std::move(local_slam_result_data)}));
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}
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template <>
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std::unique_ptr<mapping::LocalSlamResultData>
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MapBuilderContext<mapping::Submap2D>::ProcessLocalSlamResultData(
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const std::string& sensor_id, common::Time time,
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const mapping::proto::LocalSlamResultData& proto);
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template <>
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std::unique_ptr<mapping::LocalSlamResultData>
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MapBuilderContext<mapping::Submap3D>::ProcessLocalSlamResultData(
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const std::string& sensor_id, common::Time time,
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const mapping::proto::LocalSlamResultData& proto);
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} // namespace cloud
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} // namespace cartographer
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#endif // CARTOGRAPHER_INTERNAL_CLOUD_MAP_BUILDER_CONTEXT_IMPL_H
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