41 lines
1.4 KiB
C++
41 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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#ifndef CARTOGRAPHER_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_
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#define CARTOGRAPHER_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_
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#include "cartographer/io/proto_stream_interface.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
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namespace cartographer {
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namespace io {
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// The current serialization format version.
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static constexpr int kMappingStateSerializationFormatVersion = 1;
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// Serialize mapping state to a pbstream.
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void WritePbStream(
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const mapping::PoseGraph& pose_graph,
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const std::vector<mapping::proto::TrajectoryBuilderOptionsWithSensorIds>&
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builder_options,
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ProtoStreamWriterInterface* const writer, bool include_unfinished_submaps);
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_
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