59 lines
2.3 KiB
C++
59 lines
2.3 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_3D_GLOBAL_TRAJECTORY_BUILDER_H_
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#define CARTOGRAPHER_MAPPING_3D_GLOBAL_TRAJECTORY_BUILDER_H_
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#include <memory>
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#include "cartographer/mapping/global_trajectory_builder_interface.h"
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#include "cartographer/mapping_3d/local_trajectory_builder.h"
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#include "cartographer/mapping_3d/proto/local_trajectory_builder_options.pb.h"
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#include "cartographer/mapping_3d/sparse_pose_graph.h"
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namespace cartographer {
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namespace mapping_3d {
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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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int trajectory_id,
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mapping_3d::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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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 AddRangefinderData(common::Time time, const Eigen::Vector3f& origin,
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const sensor::PointCloud& ranges) override;
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void AddOdometerData(common::Time time,
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const transform::Rigid3d& pose) override;
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const PoseEstimate& pose_estimate() const override;
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private:
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const int trajectory_id_;
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mapping_3d::SparsePoseGraph* const sparse_pose_graph_;
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std::unique_ptr<LocalTrajectoryBuilderInterface> local_trajectory_builder_;
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};
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} // namespace mapping_3d
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_3D_GLOBAL_TRAJECTORY_BUILDER_H_
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