60 lines
2.2 KiB
C++
60 lines
2.2 KiB
C++
/*
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* Copyright 2017 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_MAPPING_POSE_GRAPH_STUB_H_
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#define CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
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#include "cartographer/mapping/pose_graph_interface.h"
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#include "cartographer_grpc/proto/map_builder_service.grpc.pb.h"
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#include "grpc++/grpc++.h"
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namespace cartographer_grpc {
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namespace mapping {
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class PoseGraphStub : public cartographer::mapping::PoseGraphInterface {
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public:
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PoseGraphStub(std::shared_ptr<grpc::Channel> client_channel,
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proto::MapBuilderService::Stub* stub);
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PoseGraphStub(const PoseGraphStub&) = delete;
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PoseGraphStub& operator=(const PoseGraphStub&) = delete;
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void RunFinalOptimization() override;
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cartographer::mapping::MapById<cartographer::mapping::SubmapId, SubmapData>
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GetAllSubmapData() override;
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cartographer::mapping::MapById<cartographer::mapping::SubmapId, SubmapPose>
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GetAllSubmapPoses() override;
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cartographer::transform::Rigid3d GetLocalToGlobalTransform(
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int trajectory_id) override;
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNode>
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GetTrajectoryNodes() override;
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cartographer::mapping::MapById<cartographer::mapping::NodeId,
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cartographer::mapping::TrajectoryNodePose>
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GetTrajectoryNodePoses() override;
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bool IsTrajectoryFinished(int trajectory_id) override;
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std::vector<Constraint> constraints() override;
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private:
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std::shared_ptr<grpc::Channel> client_channel_;
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proto::MapBuilderService::Stub* stub_;
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};
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} // namespace mapping
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAPPING_POSE_GRAPH_STUB_H_
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