74 lines
2.6 KiB
C++
74 lines
2.6 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_COLLATED_TRAJECTORY_BUILDER_H_
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#define CARTOGRAPHER_MAPPING_COLLATED_TRAJECTORY_BUILDER_H_
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#include <chrono>
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#include <map>
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#include <memory>
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#include <string>
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#include <unordered_set>
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#include "cartographer/common/port.h"
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#include "cartographer/common/rate_timer.h"
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#include "cartographer/mapping/global_trajectory_builder_interface.h"
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#include "cartographer/mapping/submaps.h"
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#include "cartographer/mapping/trajectory_builder.h"
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#include "cartographer/sensor/collator.h"
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#include "cartographer/sensor/data.h"
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namespace cartographer {
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namespace mapping {
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// Handles collating sensor data using a sensor::Collator, then passing it on to
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// a mapping::GlobalTrajectoryBuilderInterface which is common for 2D and 3D.
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class CollatedTrajectoryBuilder : public TrajectoryBuilder {
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public:
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CollatedTrajectoryBuilder(
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sensor::Collator* sensor_collator, int trajectory_id,
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const std::unordered_set<string>& expected_sensor_ids,
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std::unique_ptr<GlobalTrajectoryBuilderInterface>
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wrapped_trajectory_builder);
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~CollatedTrajectoryBuilder() override;
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CollatedTrajectoryBuilder(const CollatedTrajectoryBuilder&) = delete;
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CollatedTrajectoryBuilder& operator=(const CollatedTrajectoryBuilder&) =
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delete;
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const PoseEstimate& pose_estimate() const override;
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void AddSensorData(const string& sensor_id,
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std::unique_ptr<sensor::Data> data) override;
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private:
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void HandleCollatedSensorData(const string& sensor_id,
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std::unique_ptr<sensor::Data> data);
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sensor::Collator* const sensor_collator_;
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const int trajectory_id_;
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std::unique_ptr<GlobalTrajectoryBuilderInterface> wrapped_trajectory_builder_;
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// Time at which we last logged the rates of incoming sensor data.
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std::chrono::steady_clock::time_point last_logging_time_;
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std::map<string, common::RateTimer<>> rate_timers_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_COLLATED_TRAJECTORY_BUILDER_H_
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