38 lines
1.3 KiB
C++
38 lines
1.3 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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#ifndef CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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#define CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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#include "cartographer/io/proto_stream_interface.h"
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namespace cartographer {
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namespace io {
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// This helper function, migrates the input stream, which is supposed to match
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// to the "old" stream format order (PoseGraph, AllTrajectoryBuilderOptions,
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// SerializedData*) to the version 1 stream format (SerializationHeader,
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// SerializedData*).
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void MigrateStreamFormatToVersion1(
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cartographer::io::ProtoStreamReaderInterface* const input,
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cartographer::io::ProtoStreamWriterInterface* const output,
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bool migrate_grid_format);
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_SERIALIZATION_FORMAT_MIGRATION_H_
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