Class MapBuilderInterface

Inheritance Relationships

Derived Types

Class Documentation

class MapBuilderInterface

Subclassed by cartographer::cloud::MapBuilderStub, cartographer::mapping::MapBuilder, cartographer::mapping::testing::MockMapBuilder

Public Types

using LocalSlamResultCallback = TrajectoryBuilderInterface::LocalSlamResultCallback
using SensorId = TrajectoryBuilderInterface::SensorId

Public Functions

inline MapBuilderInterface()
inline virtual ~MapBuilderInterface()
MapBuilderInterface(const MapBuilderInterface&) = delete
MapBuilderInterface &operator=(const MapBuilderInterface&) = delete
virtual int AddTrajectoryBuilder(const std::set<SensorId> &expected_sensor_ids, const proto::TrajectoryBuilderOptions &trajectory_options, LocalSlamResultCallback local_slam_result_callback) = 0
virtual int AddTrajectoryForDeserialization(const proto::TrajectoryBuilderOptionsWithSensorIds &options_with_sensor_ids_proto) = 0
virtual mapping::TrajectoryBuilderInterface *GetTrajectoryBuilder(int trajectory_id) const = 0
virtual void FinishTrajectory(int trajectory_id) = 0
virtual std::string SubmapToProto(const SubmapId &submap_id, proto::SubmapQuery::Response *response) = 0
virtual void SerializeState(bool include_unfinished_submaps, io::ProtoStreamWriterInterface *writer) = 0
virtual bool SerializeStateToFile(bool include_unfinished_submaps, const std::string &filename) = 0
virtual std::map<int, int> LoadState(io::ProtoStreamReaderInterface *reader, bool load_frozen_state) = 0
virtual std::map<int, int> LoadStateFromFile(const std::string &filename, bool load_frozen_state) = 0
virtual int num_trajectory_builders() const = 0
virtual mapping::PoseGraphInterface *pose_graph() = 0
virtual const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds> &GetAllTrajectoryBuilderOptions() const = 0