43 lines
1.4 KiB
C++
43 lines
1.4 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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#include "cartographer/pose_graph/node/node_id.h"
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namespace cartographer {
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namespace pose_graph {
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NodeId::NodeId(const std::string& object_id, common::Time time)
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: object_id(object_id), time(time) {}
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NodeId::NodeId(const std::string& object_id, const std::string& group_id,
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common::Time time)
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: object_id(object_id), group_id(group_id), time(time) {}
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NodeId::NodeId(const proto::NodeId& node_id)
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: NodeId(node_id.object_id(), node_id.group_id(),
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common::FromUniversal(node_id.timestamp())) {}
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proto::NodeId NodeId::ToProto() const {
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proto::NodeId node_id;
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node_id.set_object_id(object_id);
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node_id.set_group_id(group_id);
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node_id.set_timestamp(common::ToUniversal(time));
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return node_id;
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}
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} // namespace pose_graph
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} // namespace cartographer
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