.. _program_listing_file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_sensor_bridge.h:

Program Listing for File sensor_bridge.h
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_sensor_bridge.h>` (``/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/sensor_bridge.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2016 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.
    */
   
   #ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SENSOR_BRIDGE_H
   #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SENSOR_BRIDGE_H
   
   #include <memory>
   
   #include "absl/types/optional.h"
   #include "cartographer/mapping/trajectory_builder_interface.h"
   #include "cartographer/sensor/imu_data.h"
   #include "cartographer/sensor/odometry_data.h"
   #include "cartographer/transform/rigid_transform.h"
   #include "cartographer/transform/transform.h"
   #include "cartographer_ros/tf_bridge.h"
   #include "cartographer_ros_msgs/msg/landmark_list.hpp"
   #include <geometry_msgs/msg/transform.hpp>
   #include <geometry_msgs/msg/transform_stamped.hpp>
   #include <nav_msgs/msg/occupancy_grid.hpp>
   #include <nav_msgs/msg/odometry.hpp>
   #include <sensor_msgs/msg/imu.hpp>
   #include <sensor_msgs/msg/laser_scan.hpp>
   #include <sensor_msgs/msg/multi_echo_laser_scan.hpp>
   #include <sensor_msgs/msg/nav_sat_fix.hpp>
   #include <sensor_msgs/msg/point_cloud2.hpp>
   
   namespace cartographer_ros {
   
   // Converts ROS messages into SensorData in tracking frame for the MapBuilder.
   class SensorBridge {
    public:
     explicit SensorBridge(
         int num_subdivisions_per_laser_scan, const std::string& tracking_frame,
         double lookup_transform_timeout_sec, tf2_ros::Buffer* tf_buffer,
         ::cartographer::mapping::TrajectoryBuilderInterface* trajectory_builder);
   
     SensorBridge(const SensorBridge&) = delete;
     SensorBridge& operator=(const SensorBridge&) = delete;
   
     std::unique_ptr<::cartographer::sensor::OdometryData> ToOdometryData(
         const nav_msgs::msg::Odometry::ConstSharedPtr& msg);
     void HandleOdometryMessage(const std::string& sensor_id,
                                const nav_msgs::msg::Odometry::ConstSharedPtr& msg);
     void HandleNavSatFixMessage(const std::string& sensor_id,
                                 const sensor_msgs::msg::NavSatFix::ConstSharedPtr& msg);
     void HandleLandmarkMessage(
         const std::string& sensor_id,
         const cartographer_ros_msgs::msg::LandmarkList::ConstSharedPtr& msg);
   
     std::unique_ptr<::cartographer::sensor::ImuData> ToImuData(
         const sensor_msgs::msg::Imu::ConstSharedPtr& msg);
     void HandleImuMessage(const std::string& sensor_id,
                           const sensor_msgs::msg::Imu::ConstSharedPtr& msg);
     void HandleLaserScanMessage(const std::string& sensor_id,
                                 const sensor_msgs::msg::LaserScan::ConstSharedPtr& msg);
     void HandleMultiEchoLaserScanMessage(
         const std::string& sensor_id,
         const sensor_msgs::msg::MultiEchoLaserScan::ConstSharedPtr& msg);
     void HandlePointCloud2Message(const std::string& sensor_id,
                                   const sensor_msgs::msg::PointCloud2::ConstSharedPtr& msg);
   
     const TfBridge& tf_bridge() const;
   
    private:
     void HandleLaserScan(
         const std::string& sensor_id, ::cartographer::common::Time start_time,
         const std::string& frame_id,
         const ::cartographer::sensor::PointCloudWithIntensities& points);
     void HandleRangefinder(const std::string& sensor_id,
                            ::cartographer::common::Time time,
                            const std::string& frame_id,
                            const ::cartographer::sensor::TimedPointCloud& ranges);
   
     const int num_subdivisions_per_laser_scan_;
     std::map<std::string, cartographer::common::Time>
         sensor_to_previous_subdivision_time_;
     const TfBridge tf_bridge_;
     ::cartographer::mapping::TrajectoryBuilderInterface* const
         trajectory_builder_;
   
     absl::optional<::cartographer::transform::Rigid3d> ecef_to_local_frame_;
   };
   
   }  // namespace cartographer_ros
   
   #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_SENSOR_BRIDGE_H