92 lines
3.8 KiB
C++
92 lines
3.8 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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#ifndef CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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#include <thread>
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#include "cartographer/mapping/local_slam_result_data.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer_grpc/framework/client.h"
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#include "cartographer_grpc/handlers/add_fixed_frame_pose_data_handler.h"
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#include "cartographer_grpc/handlers/add_imu_data_handler.h"
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#include "cartographer_grpc/handlers/add_landmark_data_handler.h"
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#include "cartographer_grpc/handlers/add_local_slam_result_data_handler.h"
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#include "cartographer_grpc/handlers/add_odometry_data_handler.h"
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#include "cartographer_grpc/handlers/add_rangefinder_data_handler.h"
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#include "cartographer_grpc/handlers/receive_local_slam_results_handler.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class TrajectoryBuilderStub
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: public cartographer::mapping::TrajectoryBuilderInterface {
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public:
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TrajectoryBuilderStub(std::shared_ptr<grpc::Channel> client_channel,
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const int trajectory_id,
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LocalSlamResultCallback local_slam_result_callback);
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~TrajectoryBuilderStub() override;
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TrajectoryBuilderStub(const TrajectoryBuilderStub&) = delete;
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TrajectoryBuilderStub& operator=(const TrajectoryBuilderStub&) = delete;
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void AddSensorData(const std::string& sensor_id,
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const cartographer::sensor::TimedPointCloudData&
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timed_point_cloud_data) override;
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void AddSensorData(const std::string& sensor_id,
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const cartographer::sensor::ImuData& imu_data) override;
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void AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::OdometryData& odometry_data) override;
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void AddSensorData(const std::string& sensor_id,
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const cartographer::sensor::FixedFramePoseData&
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fixed_frame_pose) override;
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void AddSensorData(
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const std::string& sensor_id,
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const cartographer::sensor::LandmarkData& landmark_data) override;
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void AddLocalSlamResultData(
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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local_slam_result_data) override;
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private:
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static void RunLocalSlamResultsReader(
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framework::Client<handlers::ReceiveLocalSlamResultsHandler>*
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client_reader,
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LocalSlamResultCallback local_slam_result_callback);
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std::shared_ptr<grpc::Channel> client_channel_;
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const int trajectory_id_;
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std::unique_ptr<framework::Client<handlers::AddRangefinderDataHandler>>
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add_rangefinder_client_;
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std::unique_ptr<framework::Client<handlers::AddImuDataHandler>>
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add_imu_client_;
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std::unique_ptr<framework::Client<handlers::AddOdometryDataHandler>>
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add_odometry_client_;
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std::unique_ptr<framework::Client<handlers::AddFixedFramePoseDataHandler>>
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add_fixed_frame_pose_client_;
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std::unique_ptr<framework::Client<handlers::AddLandmarkDataHandler>>
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add_landmark_client_;
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framework::Client<handlers::ReceiveLocalSlamResultsHandler>
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receive_local_slam_results_client_;
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std::unique_ptr<std::thread> receive_local_slam_results_thread_;
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};
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} // namespace mapping
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAPPING_TRAJECTORY_BUILDER_STUB_H_
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