89 lines
3.5 KiB
C++
89 lines
3.5 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_MAP_BUILDER_CONTEXT_INTERFACE_H
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#define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H
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#include "cartographer/common/blocking_queue.h"
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer/sensor/data.h"
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#include "cartographer/sensor/range_data.h"
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#include "cartographer/transform/rigid_transform.h"
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#include "cartographer_grpc/framework/execution_context.h"
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#include "cartographer_grpc/local_trajectory_uploader.h"
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namespace cartographer_grpc {
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class MapBuilderServer;
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class MapBuilderContextInterface : public framework::ExecutionContext {
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public:
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struct LocalSlamResult {
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int trajectory_id;
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cartographer::common::Time time;
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cartographer::transform::Rigid3d local_pose;
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std::shared_ptr<const cartographer::sensor::RangeData> range_data;
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std::unique_ptr<const cartographer::mapping::TrajectoryBuilderInterface::
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InsertionResult>
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insertion_result;
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};
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// Calling with 'nullptr' signals subscribers that the subscription has ended.
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using LocalSlamSubscriptionCallback =
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std::function<void(std::unique_ptr<LocalSlamResult>)>;
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struct Data {
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int trajectory_id;
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std::unique_ptr<cartographer::sensor::Data> data;
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};
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struct SubscriptionId {
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const int trajectory_id;
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const int subscription_index;
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};
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MapBuilderContextInterface() = default;
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~MapBuilderContextInterface() = default;
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MapBuilderContextInterface(const MapBuilderContextInterface&) = delete;
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MapBuilderContextInterface& operator=(const MapBuilderContextInterface&) =
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delete;
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virtual cartographer::mapping::MapBuilderInterface& map_builder() = 0;
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virtual cartographer::common::BlockingQueue<std::unique_ptr<Data>>&
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sensor_data_queue() = 0;
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virtual cartographer::mapping::TrajectoryBuilderInterface::
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LocalSlamResultCallback
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GetLocalSlamResultCallbackForSubscriptions() = 0;
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virtual void AddSensorDataToTrajectory(const Data& sensor_data) = 0;
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virtual SubscriptionId SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) = 0;
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virtual void UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) = 0;
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virtual void NotifyFinishTrajectory(int trajectory_id) = 0;
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virtual std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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ProcessLocalSlamResultData(
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const std::string& sensor_id, cartographer::common::Time time,
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const cartographer::mapping::proto::LocalSlamResultData& proto) = 0;
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virtual LocalTrajectoryUploaderInterface* local_trajectory_uploader() = 0;
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virtual void EnqueueSensorData(
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int trajectory_id, std::unique_ptr<cartographer::sensor::Data> data) = 0;
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virtual void EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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std::unique_ptr<cartographer::mapping::LocalSlamResultData>
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local_slam_result_data) = 0;
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};
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_INTERFACE_H
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