cartographer/cartographer_grpc/mapping/pose_graph_stub.h

60 lines
2.2 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.
*/
#ifndef CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
#define CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
#include "cartographer/mapping/pose_graph_interface.h"
#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
#include "grpc++/grpc++.h"
namespace cartographer_grpc {
namespace mapping {
class PoseGraphStub : public cartographer::mapping::PoseGraphInterface {
public:
PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
proto::MapBuilderService::Stub* stub);
PoseGraphStub(const PoseGraphStub&) = delete;
PoseGraphStub& operator=(const PoseGraphStub&) = delete;
void RunFinalOptimization() override;
cartographer::mapping::MapById<cartographer::mapping::SubmapId, SubmapData>
GetAllSubmapData() override;
cartographer::mapping::MapById<cartographer::mapping::SubmapId, SubmapPose>
GetAllSubmapPoses() override;
cartographer::transform::Rigid3d GetLocalToGlobalTransform(
int trajectory_id) override;
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNode>
GetTrajectoryNodes() override;
cartographer::mapping::MapById<cartographer::mapping::NodeId,
cartographer::mapping::TrajectoryNodePose>
GetTrajectoryNodePoses() override;
bool IsTrajectoryFinished(int trajectory_id) override;
std::vector<Constraint> constraints() override;
private:
std::shared_ptr<grpc::Channel> client_channel_;
proto::MapBuilderService::Stub* stub_;
};
} // namespace mapping
} // namespace cartographer_grpc
#endif // CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_