58 lines
2.2 KiB
C++
58 lines
2.2 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_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
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#define CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
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#include "cartographer/common/make_unique.h"
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#include "cartographer_grpc/framework/rpc_handler.h"
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#include "cartographer_grpc/map_builder_server.h"
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#include "cartographer_grpc/proto/map_builder_service.pb.h"
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#include "google/protobuf/empty.pb.h"
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namespace cartographer_grpc {
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namespace handlers {
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class GetTrajectoryNodePosesHandler
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: public framework::RpcHandler<google::protobuf::Empty,
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proto::GetTrajectoryNodePosesResponse> {
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public:
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std::string method_name() const override {
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return "/cartographer_grpc.proto.MapBuilderService/GetTrajectoryNodePoses";
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}
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void OnRequest(const google::protobuf::Empty& request) override {
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auto node_poses = GetContext<MapBuilderServer::MapBuilderContext>()
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->map_builder()
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.pose_graph()
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->GetTrajectoryNodePoses();
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auto response = cartographer::common::make_unique<
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proto::GetTrajectoryNodePosesResponse>();
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for (const auto& node_id_pose : node_poses) {
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auto* node_pose = response->add_node_poses();
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node_id_pose.id.ToProto(node_pose->mutable_node_id());
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*node_pose->mutable_global_pose() =
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cartographer::transform::ToProto(node_id_pose.data.global_pose);
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node_pose->set_has_constant_data(node_id_pose.data.has_constant_data);
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}
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Send(std::move(response));
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}
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};
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} // namespace handlers
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_HANDLERS_GET_TRAJECTORY_NODE_POSES_HANDLER_H
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