47 lines
1.7 KiB
C++
47 lines
1.7 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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#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_context_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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void GetLandmarkPosesHandler::OnRequest(
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const google::protobuf::Empty& request) {
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auto landmark_poses = GetContext<MapBuilderContextInterface>()
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->map_builder()
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.pose_graph()
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->GetLandmarkPoses();
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auto response =
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cartographer::common::make_unique<proto::GetLandmarkPosesResponse>();
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for (const auto& landmark_pose : landmark_poses) {
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auto* landmark = response->add_landmark_poses();
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landmark->set_landmark_id(landmark_pose.first);
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*landmark->mutable_global_pose() =
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cartographer::transform::ToProto(landmark_pose.second);
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}
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Send(std::move(response));
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}
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} // namespace handlers
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} // namespace cartographer_grpc
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