40 lines
1.5 KiB
C++
40 lines
1.5 KiB
C++
/*
|
|
* Copyright 2018 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/handlers/get_submap_handler.h"
|
|
|
|
#include "cartographer/common/make_unique.h"
|
|
#include "cartographer_grpc/framework/rpc_handler.h"
|
|
#include "cartographer_grpc/map_builder_context_interface.h"
|
|
#include "cartographer_grpc/proto/map_builder_service.pb.h"
|
|
#include "google/protobuf/empty.pb.h"
|
|
|
|
namespace cartographer_grpc {
|
|
namespace handlers {
|
|
|
|
void GetSubmapHandler::OnRequest(const proto::GetSubmapRequest &request) {
|
|
auto response = cartographer::common::make_unique<proto::GetSubmapResponse>();
|
|
response->set_error_msg(
|
|
GetContext<MapBuilderContextInterface>()->map_builder().SubmapToProto(
|
|
cartographer::mapping::SubmapId{request.submap_id().trajectory_id(),
|
|
request.submap_id().submap_index()},
|
|
response->mutable_submap_query_response()));
|
|
Send(std::move(response));
|
|
}
|
|
|
|
} // namespace handlers
|
|
} // namespace cartographer_grpc
|