68 lines
2.4 KiB
C++
68 lines
2.4 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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#include "serialization.h"
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namespace cartographer_grpc {
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namespace mapping {
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void CreateSensorMetadata(const std::string& sensor_id, const int trajectory_id,
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proto::SensorMetadata* proto) {
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proto->set_sensor_id(sensor_id);
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proto->set_trajectory_id(trajectory_id);
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}
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void CreateAddFixedFramePoseDataRequest(
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const std::string& sensor_id, int trajectory_id,
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const cartographer::sensor::proto::FixedFramePoseData&
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fixed_frame_pose_data,
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proto::AddFixedFramePoseDataRequest* proto) {
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CreateSensorMetadata(sensor_id, trajectory_id,
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proto->mutable_sensor_metadata());
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*proto->mutable_fixed_frame_pose_data() = fixed_frame_pose_data;
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}
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void CreateAddImuDataRequest(
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const std::string& sensor_id, const int trajectory_id,
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const cartographer::sensor::proto::ImuData& imu_data,
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proto::AddImuDataRequest* proto) {
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CreateSensorMetadata(sensor_id, trajectory_id,
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proto->mutable_sensor_metadata());
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*proto->mutable_imu_data() = imu_data;
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}
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void CreateAddOdometryDataRequest(
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const std::string& sensor_id, int trajectory_id,
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const cartographer::sensor::proto::OdometryData& odometry_data,
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proto::AddOdometryDataRequest* proto) {
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CreateSensorMetadata(sensor_id, trajectory_id,
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proto->mutable_sensor_metadata());
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*proto->mutable_odometry_data() = odometry_data;
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}
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void CreateAddRangeFinderDataRequest(
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const std::string& sensor_id, int trajectory_id,
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const cartographer::sensor::proto::TimedPointCloudData&
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timed_point_cloud_data,
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proto::AddRangefinderDataRequest* proto) {
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CreateSensorMetadata(sensor_id, trajectory_id,
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proto->mutable_sensor_metadata());
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*proto->mutable_timed_point_cloud_data() = timed_point_cloud_data;
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}
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} // namespace mapping
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} // namespace cartographer_grpc
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