43 lines
1.3 KiB
C++
43 lines
1.3 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_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
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#define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer/sensor/data.h"
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namespace cartographer {
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namespace mapping {
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class LocalSlamResultData : public sensor::Data {
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public:
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LocalSlamResultData(const std::string& sensor_id, common::Time time)
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: Data(sensor_id), time_(time) {}
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common::Time GetTime() const override { return time_; }
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virtual void AddToPoseGraph(int trajectory_id,
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PoseGraph* pose_graph) const = 0;
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private:
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common::Time time_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
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