Class MapBuilderContextInterface

• Defined in File map_builder_context_interface.h

Nested Relationships

Nested Types

• Struct MapBuilderContextInterface::Data

• Struct MapBuilderContextInterface::LocalSlamResult

• Struct MapBuilderContextInterface::LocalSlamSubscriptionId

Inheritance Relationships

Base Type

• public async_grpc::ExecutionContext

Derived Types

• public cartographer::cloud::MapBuilderContext< SubmapType > (Template Class MapBuilderContext)

• public cartographer::cloud::testing::MockMapBuilderContext (Class MockMapBuilderContext)

Class Documentation

class MapBuilderContextInterface : public async_grpc::ExecutionContext

Subclassed by cartographer::cloud::MapBuilderContext< SubmapType >, cartographer::cloud::testing::MockMapBuilderContext

Public Types

using LocalSlamSubscriptionCallback = std::function<bool(std::unique_ptr<LocalSlamResult>)>

using GlobalSlamOptimizationCallback = std::function<bool(const std::map<int, mapping::SubmapId>&, const std::map<int, mapping::NodeId>&)>

Public Functions

MapBuilderContextInterface() = default

~MapBuilderContextInterface() = default

MapBuilderContextInterface(const MapBuilderContextInterface&) = delete

MapBuilderContextInterface &operator=(const MapBuilderContextInterface&) = delete

virtual mapping::MapBuilderInterface &map_builder() = 0

virtual common::BlockingQueue<std::unique_ptr<Data>> &sensor_data_queue() = 0

virtual mapping::TrajectoryBuilderInterface::LocalSlamResultCallback GetLocalSlamResultCallbackForSubscriptions() = 0

virtual void AddSensorDataToTrajectory(const Data &sensor_data) = 0

virtual LocalSlamSubscriptionId SubscribeLocalSlamResults(int trajectory_id, LocalSlamSubscriptionCallback callback) = 0

virtual void UnsubscribeLocalSlamResults(const LocalSlamSubscriptionId &subscription_id) = 0

virtual int SubscribeGlobalSlamOptimizations(GlobalSlamOptimizationCallback callback) = 0

virtual void UnsubscribeGlobalSlamOptimizations(int subscription_index) = 0

virtual void NotifyFinishTrajectory(int trajectory_id) = 0

virtual LocalTrajectoryUploaderInterface *local_trajectory_uploader() = 0

virtual void EnqueueSensorData(int trajectory_id, std::unique_ptr<sensor::Data> data) = 0

virtual void EnqueueLocalSlamResultData(int trajectory_id, const std::string &sensor_id, const mapping::proto::LocalSlamResultData &local_slam_result_data) = 0

virtual void RegisterClientIdForTrajectory(const std::string &client_id, int trajectory_id) = 0

virtual bool CheckClientIdForTrajectory(const std::string &client_id, int trajectory_id) = 0

struct Data

Public Members

int trajectory_id

std::unique_ptr<sensor::Data> data

struct LocalSlamResult

Public Members

int trajectory_id

common::Time time

transform::Rigid3d local_pose

std::shared_ptr<const sensor::RangeData> range_data

std::unique_ptr<const mapping::TrajectoryBuilderInterface::InsertionResult> insertion_result

struct LocalSlamSubscriptionId

Public Members

const int trajectory_id

const int subscription_index