68 lines
2.8 KiB
C++
68 lines
2.8 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_H
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#define CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
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#include "cartographer/mapping_2d/submap_2d.h"
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#include "cartographer/mapping_3d/submaps.h"
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#include "cartographer_grpc/map_builder_context_interface.h"
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namespace cartographer_grpc {
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class MapBuilderContext : public MapBuilderContextInterface {
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public:
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MapBuilderContext(MapBuilderServer* map_builder_server);
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cartographer::mapping::MapBuilderInterface& map_builder() override;
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cartographer::common::BlockingQueue<std::unique_ptr<Data>>&
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sensor_data_queue() override;
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cartographer::mapping::TrajectoryBuilderInterface::LocalSlamResultCallback
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GetLocalSlamResultCallbackForSubscriptions() override;
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void AddSensorDataToTrajectory(const Data& sensor_data) override;
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SubscriptionId SubscribeLocalSlamResults(
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int trajectory_id, LocalSlamSubscriptionCallback callback) override;
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void UnsubscribeLocalSlamResults(
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const SubscriptionId& subscription_id) override;
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void NotifyFinishTrajectory(int trajectory_id) override;
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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) override;
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LocalTrajectoryUploaderInterface* local_trajectory_uploader() override;
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void EnqueueSensorData(
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int trajectory_id,
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std::unique_ptr<cartographer::sensor::Data> data) override;
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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) override;
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private:
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std::shared_ptr<cartographer::mapping::Submap2D> UpdateSubmap2D(
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const cartographer::mapping::proto::Submap& proto);
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std::shared_ptr<cartographer::mapping_3d::Submap> UpdateSubmap3D(
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const cartographer::mapping::proto::Submap& proto);
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MapBuilderServer* map_builder_server_;
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cartographer::mapping::MapById<cartographer::mapping::SubmapId,
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std::shared_ptr<cartographer::mapping::Submap>>
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unfinished_submaps_;
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};
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} // namespace cartographer_grpc
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#endif // CARTOGRAPHER_GRPC_MAP_BUILDER_CONTEXT_H
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