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_