cartographer/cartographer_grpc/mapping/pose_graph_stub.cc

114 lines
4.3 KiB
C++

/*
* Copyright 2017 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer_grpc/mapping/pose_graph_stub.h"
#include "cartographer/mapping/pose_graph.h"
#include "glog/logging.h"
namespace cartographer_grpc {
namespace mapping {
PoseGraphStub::PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
proto::MapBuilderService::Stub* stub)
: client_channel_(client_channel), stub_(stub) {}
void PoseGraphStub::RunFinalOptimization() { LOG(FATAL) << "Not implemented"; }
cartographer::mapping::MapById<
cartographer::mapping::SubmapId,
cartographer::mapping::PoseGraphInterface::SubmapData>
PoseGraphStub::GetAllSubmapData() {
LOG(FATAL) << "Not implemented";
}
cartographer::mapping::MapById<
cartographer::mapping::SubmapId,
cartographer::mapping::PoseGraphInterface::SubmapPose>
PoseGraphStub::GetAllSubmapPoses() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
proto::GetAllSubmapPosesResponse response;
stub_->GetAllSubmapPoses(&client_context, request, &response);
cartographer::mapping::MapById<
cartographer::mapping::SubmapId,
cartographer::mapping::PoseGraphInterface::SubmapPose>
submap_poses;
for (const auto& submap_pose : response.submap_poses()) {
submap_poses.Insert(
cartographer::mapping::SubmapId{submap_pose.submap_id().trajectory_id(),
submap_pose.submap_id().submap_index()},
cartographer::mapping::PoseGraphInterface::SubmapPose{
submap_pose.submap_version(),
cartographer::transform::ToRigid3(submap_pose.global_pose())});
}
return submap_poses;
}
cartographer::transform::Rigid3d PoseGraphStub::GetLocalToGlobalTransform(
int trajectory_id) {
grpc::ClientContext client_context;
proto::GetLocalToGlobalTransformRequest request;
request.set_trajectory_id(trajectory_id);
proto::GetLocalToGlobalTransformResponse response;
CHECK(stub_->GetLocalToGlobalTransform(&client_context, request, &response)
.ok());
return cartographer::transform::ToRigid3(response.local_to_global());
}
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNode>
PoseGraphStub::GetTrajectoryNodes() {
LOG(FATAL) << "Not implemented";
}
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNodePose>
PoseGraphStub::GetTrajectoryNodePoses() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
proto::GetTrajectoryNodePosesResponse response;
stub_->GetTrajectoryNodePoses(&client_context, request, &response);
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNodePose>
node_poses;
for (const auto& node_pose : response.node_poses()) {
node_poses.Insert(
cartographer::mapping::NodeId{node_pose.node_id().trajectory_id(),
node_pose.node_id().node_index()},
cartographer::mapping::TrajectoryNodePose{
node_pose.has_constant_data(),
cartographer::transform::ToRigid3(node_pose.global_pose())});
}
return node_poses;
}
bool PoseGraphStub::IsTrajectoryFinished(int trajectory_id) {
LOG(FATAL) << "Not implemented";
}
std::vector<cartographer::mapping::PoseGraphInterface::Constraint>
PoseGraphStub::constraints() {
grpc::ClientContext client_context;
google::protobuf::Empty request;
proto::GetConstraintsResponse response;
stub_->GetConstraints(&client_context, request, &response);
return cartographer::mapping::FromProto(response.constraints());
}
} // namespace mapping
} // namespace cartographer_grpc