64 lines
2.4 KiB
C++
64 lines
2.4 KiB
C++
/*
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* Copyright 2016 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_MAPPING_2D_GLOBAL_TRAJECTORY_BUILDER_H_
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#define CARTOGRAPHER_MAPPING_2D_GLOBAL_TRAJECTORY_BUILDER_H_
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#include "cartographer/mapping/global_trajectory_builder_interface.h"
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#include "cartographer/mapping_2d/local_trajectory_builder.h"
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#include "cartographer/mapping_2d/sparse_pose_graph.h"
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namespace cartographer {
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namespace mapping_2d {
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class GlobalTrajectoryBuilder
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: public mapping::GlobalTrajectoryBuilderInterface {
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public:
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GlobalTrajectoryBuilder(const proto::LocalTrajectoryBuilderOptions& options,
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SparsePoseGraph* sparse_pose_graph);
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~GlobalTrajectoryBuilder() override;
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GlobalTrajectoryBuilder(const GlobalTrajectoryBuilder&) = delete;
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GlobalTrajectoryBuilder& operator=(const GlobalTrajectoryBuilder&) = delete;
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const Submaps* submaps() const override;
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Submaps* submaps() override;
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kalman_filter::PoseTracker* pose_tracker() const override;
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const mapping::GlobalTrajectoryBuilderInterface::PoseEstimate& pose_estimate()
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const override;
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void AddHorizontalLaserFan(common::Time time,
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const sensor::LaserFan3D& laser_fan) override;
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void AddImuData(common::Time time, const Eigen::Vector3d& linear_acceleration,
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const Eigen::Vector3d& angular_velocity) override;
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void AddOdometerPose(
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common::Time time, const transform::Rigid3d& pose,
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const kalman_filter::PoseCovariance& covariance) override;
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void AddLaserFan3D(common::Time, const sensor::LaserFan3D&) override {
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LOG(FATAL) << "Not implemented.";
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};
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private:
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const proto::LocalTrajectoryBuilderOptions options_;
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SparsePoseGraph* const sparse_pose_graph_;
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LocalTrajectoryBuilder local_trajectory_builder_;
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};
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} // namespace mapping_2d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_2D_GLOBAL_TRAJECTORY_BUILDER_H_
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