counting_points_processor.h
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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_IO_COUNTING_POINTS_PROCESSOR_H_
00018 #define CARTOGRAPHER_IO_COUNTING_POINTS_PROCESSOR_H_
00019 
00020 #include "cartographer/common/lua_parameter_dictionary.h"
00021 #include "cartographer/io/points_processor.h"
00022 
00023 namespace cartographer {
00024 namespace io {
00025 
00026 // Passes through points, but keeps track of how many points it saw and output
00027 // that on Flush.
00028 class CountingPointsProcessor : public PointsProcessor {
00029  public:
00030   constexpr static const char* kConfigurationFileActionName = "dump_num_points";
00031   explicit CountingPointsProcessor(PointsProcessor* next);
00032 
00033   static std::unique_ptr<CountingPointsProcessor> FromDictionary(
00034       common::LuaParameterDictionary* dictionary, PointsProcessor* next);
00035 
00036   ~CountingPointsProcessor() override {}
00037 
00038   CountingPointsProcessor(const CountingPointsProcessor&) = delete;
00039   CountingPointsProcessor& operator=(const CountingPointsProcessor&) = delete;
00040 
00041   void Process(std::unique_ptr<PointsBatch> points) override;
00042   FlushResult Flush() override;
00043 
00044  private:
00045   int64 num_points_;
00046   PointsProcessor* next_;
00047 };
00048 
00049 }  // namespace io
00050 }  // namespace cartographer
00051 
00052 #endif  // CARTOGRAPHER_IO_COUNTING_POINTS_PROCESSOR_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:35