138 lines
5.3 KiB
C++
138 lines
5.3 KiB
C++
/*
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* Copyright 2017 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/mapping/pose_graph_stub.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer_grpc/framework/client.h"
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#include "cartographer_grpc/handlers/get_all_submap_poses.h"
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#include "cartographer_grpc/handlers/get_constraints_handler.h"
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#include "cartographer_grpc/handlers/get_landmark_poses_handler.h"
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#include "cartographer_grpc/handlers/get_local_to_global_transform_handler.h"
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#include "cartographer_grpc/handlers/get_trajectory_node_poses_handler.h"
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#include "cartographer_grpc/handlers/run_final_optimization_handler.h"
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#include "glog/logging.h"
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namespace cartographer_grpc {
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namespace mapping {
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PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel)
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: client_channel_(client_channel) {}
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void PoseGraphStub::RunFinalOptimization() {
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google::protobuf::Empty request;
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framework::Client<handlers::RunFinalOptimizationHandler> client(
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client_channel_);
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CHECK(client.Write(request));
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}
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cartographer::mapping::MapById<
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cartographer::mapping::SubmapId,
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cartographer::mapping::PoseGraphInterface::SubmapData>
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PoseGraphStub::GetAllSubmapData() {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::MapById<
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cartographer::mapping::SubmapId,
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cartographer::mapping::PoseGraphInterface::SubmapPose>
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PoseGraphStub::GetAllSubmapPoses() {
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google::protobuf::Empty request;
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framework::Client<handlers::GetAllSubmapPosesHandler> client(client_channel_);
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CHECK(client.Write(request));
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cartographer::mapping::MapById<
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cartographer::mapping::SubmapId,
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cartographer::mapping::PoseGraphInterface::SubmapPose>
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submap_poses;
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for (const auto& submap_pose : client.response().submap_poses()) {
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submap_poses.Insert(
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cartographer::mapping::SubmapId{submap_pose.submap_id().trajectory_id(),
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submap_pose.submap_id().submap_index()},
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cartographer::mapping::PoseGraphInterface::SubmapPose{
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submap_pose.submap_version(),
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cartographer::transform::ToRigid3(submap_pose.global_pose())});
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}
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return submap_poses;
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}
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cartographer::transform::Rigid3d PoseGraphStub::GetLocalToGlobalTransform(
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int trajectory_id) {
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proto::GetLocalToGlobalTransformRequest request;
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request.set_trajectory_id(trajectory_id);
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framework::Client<handlers::GetLocalToGlobalTransformHandler> client(
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client_channel_);
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CHECK(client.Write(request));
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return cartographer::transform::ToRigid3(client.response().local_to_global());
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}
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNode>
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PoseGraphStub::GetTrajectoryNodes() {
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LOG(FATAL) << "Not implemented";
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}
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNodePose>
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PoseGraphStub::GetTrajectoryNodePoses() {
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google::protobuf::Empty request;
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framework::Client<handlers::GetTrajectoryNodePosesHandler> client(
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client_channel_);
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CHECK(client.Write(request));
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNodePose>
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node_poses;
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for (const auto& node_pose : client.response().node_poses()) {
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node_poses.Insert(
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cartographer::mapping::NodeId{node_pose.node_id().trajectory_id(),
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node_pose.node_id().node_index()},
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cartographer::mapping::TrajectoryNodePose{
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node_pose.has_constant_data(),
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cartographer::transform::ToRigid3(node_pose.global_pose())});
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}
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return node_poses;
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}
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std::map<std::string, cartographer::transform::Rigid3d>
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PoseGraphStub::GetLandmarkPoses() {
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google::protobuf::Empty request;
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framework::Client<handlers::GetLandmarkPosesHandler> client(client_channel_);
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CHECK(client.Write(request));
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std::map<std::string, cartographer::transform::Rigid3d> landmark_poses;
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for (const auto& landmark_pose : client.response().landmark_poses()) {
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landmark_poses[landmark_pose.landmark_id()] =
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cartographer::transform::ToRigid3(landmark_pose.global_pose());
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}
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return landmark_poses;
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}
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bool PoseGraphStub::IsTrajectoryFinished(int trajectory_id) {
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LOG(FATAL) << "Not implemented";
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}
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std::vector<cartographer::mapping::PoseGraphInterface::Constraint>
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PoseGraphStub::constraints() {
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google::protobuf::Empty request;
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framework::Client<handlers::GetConstraintsHandler> client(client_channel_);
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CHECK(client.Write(request));
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return cartographer::mapping::FromProto(client.response().constraints());
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}
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cartographer::mapping::proto::PoseGraph PoseGraphStub::ToProto() {
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LOG(FATAL) << "Not implemented";
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}
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} // namespace mapping
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} // namespace cartographer_grpc
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