56 lines
2.0 KiB
C++
56 lines
2.0 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_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
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#define CARTOGRAPHER_GRPC_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "grpc++/grpc++.h"
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namespace cartographer {
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namespace cloud {
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class PoseGraphStub : public ::cartographer::mapping::PoseGraphInterface {
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public:
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PoseGraphStub(std::shared_ptr<::grpc::Channel> client_channel);
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PoseGraphStub(const PoseGraphStub&) = delete;
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PoseGraphStub& operator=(const PoseGraphStub&) = delete;
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void RunFinalOptimization() override;
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mapping::MapById<mapping::SubmapId, SubmapData> GetAllSubmapData() override;
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mapping::MapById<mapping::SubmapId, SubmapPose> GetAllSubmapPoses() override;
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transform::Rigid3d GetLocalToGlobalTransform(int trajectory_id) override;
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mapping::MapById<mapping::NodeId, mapping::TrajectoryNode>
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GetTrajectoryNodes() override;
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mapping::MapById<mapping::NodeId, mapping::TrajectoryNodePose>
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GetTrajectoryNodePoses() override;
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std::map<std::string, transform::Rigid3d> GetLandmarkPoses() override;
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bool IsTrajectoryFinished(int trajectory_id) override;
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std::map<int, mapping::PoseGraphInterface::TrajectoryData> GetTrajectoryData()
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override;
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std::vector<Constraint> constraints() override;
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mapping::proto::PoseGraph ToProto() override;
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private:
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std::shared_ptr<::grpc::Channel> client_channel_;
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};
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} // namespace cloud
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} // namespace cartographer
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#endif // CARTOGRAPHER_GRPC_INTERNAL_CLIENT_POSE_GRAPH_STUB_H_
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