00001 /* 00002 * Copyright 2017 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_MAPPING_INTERNAL_GLOBAL_TRAJECTORY_BUILDER_H_ 00018 #define CARTOGRAPHER_MAPPING_INTERNAL_GLOBAL_TRAJECTORY_BUILDER_H_ 00019 00020 #include <memory> 00021 00022 #include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h" 00023 #include "cartographer/mapping/internal/2d/pose_graph_2d.h" 00024 #include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h" 00025 #include "cartographer/mapping/internal/3d/pose_graph_3d.h" 00026 #include "cartographer/mapping/local_slam_result_data.h" 00027 #include "cartographer/mapping/trajectory_builder_interface.h" 00028 #include "cartographer/metrics/family_factory.h" 00029 00030 namespace cartographer { 00031 namespace mapping { 00032 00033 std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder2D( 00034 std::unique_ptr<LocalTrajectoryBuilder2D> local_trajectory_builder, 00035 const int trajectory_id, mapping::PoseGraph2D* const pose_graph, 00036 const TrajectoryBuilderInterface::LocalSlamResultCallback& 00037 local_slam_result_callback); 00038 00039 std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D( 00040 std::unique_ptr<LocalTrajectoryBuilder3D> local_trajectory_builder, 00041 const int trajectory_id, mapping::PoseGraph3D* const pose_graph, 00042 const TrajectoryBuilderInterface::LocalSlamResultCallback& 00043 local_slam_result_callback); 00044 00045 void GlobalTrajectoryBuilderRegisterMetrics( 00046 metrics::FamilyFactory* family_factory); 00047 00048 } // namespace mapping 00049 } // namespace cartographer 00050 00051 #endif // CARTOGRAPHER_MAPPING_INTERNAL_GLOBAL_TRAJECTORY_BUILDER_H_