74 lines
2.9 KiB
C++
74 lines
2.9 KiB
C++
/*
|
|
* Copyright 2018 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H
|
|
#define CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H
|
|
|
|
#include "cartographer/mapping/local_slam_result_data.h"
|
|
#include "cartographer/mapping/trajectory_builder_interface.h"
|
|
#include "cartographer/sensor/fixed_frame_pose_data.h"
|
|
#include "cartographer/sensor/imu_data.h"
|
|
#include "cartographer/sensor/landmark_data.h"
|
|
#include "cartographer/sensor/odometry_data.h"
|
|
#include "cartographer/sensor/timed_point_cloud_data.h"
|
|
#include "cartographer_grpc/proto/map_builder_service.pb.h"
|
|
|
|
namespace cartographer_grpc {
|
|
namespace sensor {
|
|
|
|
void CreateSensorMetadata(const std::string& sensor_id, int trajectory_id,
|
|
proto::SensorMetadata* proto);
|
|
|
|
void CreateAddFixedFramePoseDataRequest(
|
|
const std::string& sensor_id, int trajectory_id,
|
|
const cartographer::sensor::proto::FixedFramePoseData&
|
|
fixed_frame_pose_data,
|
|
proto::AddFixedFramePoseDataRequest* proto);
|
|
void CreateAddImuDataRequest(
|
|
const std::string& sensor_id, int trajectory_id,
|
|
const cartographer::sensor::proto::ImuData& imu_data,
|
|
proto::AddImuDataRequest* proto);
|
|
void CreateAddOdometryDataRequest(
|
|
const std::string& sensor_id, int trajectory_id,
|
|
const cartographer::sensor::proto::OdometryData& odometry_data,
|
|
proto::AddOdometryDataRequest* proto);
|
|
void CreateAddRangeFinderDataRequest(
|
|
const std::string& sensor_id, int trajectory_id,
|
|
const cartographer::sensor::proto::TimedPointCloudData&
|
|
timed_point_cloud_data,
|
|
proto::AddRangefinderDataRequest* proto);
|
|
void CreateAddLandmarkDataRequest(
|
|
const std::string& sensor_id, int trajectory_id,
|
|
const cartographer::sensor::proto::LandmarkData& landmark_data,
|
|
proto::AddLandmarkDataRequest* proto);
|
|
void CreateAddLocalSlamResultDataRequest(
|
|
const std::string& sensor_id, int trajectory_id,
|
|
cartographer::common::Time time, int starting_submap_index,
|
|
const cartographer::mapping::TrajectoryBuilderInterface::InsertionResult&
|
|
insertion_result,
|
|
proto::AddLocalSlamResultDataRequest* proto);
|
|
|
|
proto::SensorId ToProto(
|
|
const cartographer::mapping::TrajectoryBuilderInterface::SensorId&
|
|
sensor_id);
|
|
cartographer::mapping::TrajectoryBuilderInterface::SensorId FromProto(
|
|
const proto::SensorId& proto);
|
|
|
|
} // namespace sensor
|
|
} // namespace cartographer_grpc
|
|
|
|
#endif // CARTOGRAPHER_GRPC_SENSOR_SERIALIZATION_H
|