cartographer: map_builder_context

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00001 /*
00002  * Copyright 2018 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 #include "cartographer/cloud/internal/map_builder_server.h"
00018 #include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
00019 #include "cartographer/mapping/internal/3d/local_slam_result_3d.h"
00020 
00021 namespace cartographer {
00022 namespace cloud {
00023 
00024 template <>
00025 void MapBuilderContext<mapping::Submap2D>::EnqueueLocalSlamResultData(
00026     int trajectory_id, const std::string& sensor_id,
00027     const mapping::proto::LocalSlamResultData& local_slam_result_data) {
00028   map_builder_server_->incoming_data_queue_.Push(absl::make_unique<Data>(
00029       Data{trajectory_id,
00030            absl::make_unique<mapping::LocalSlamResult2D>(
00031                sensor_id, local_slam_result_data, &submap_controller_)}));
00032 }
00033 
00034 template <>
00035 void MapBuilderContext<mapping::Submap3D>::EnqueueLocalSlamResultData(
00036     int trajectory_id, const std::string& sensor_id,
00037     const mapping::proto::LocalSlamResultData& local_slam_result_data) {
00038   map_builder_server_->incoming_data_queue_.Push(absl::make_unique<Data>(
00039       Data{trajectory_id,
00040            absl::make_unique<mapping::LocalSlamResult3D>(
00041                sensor_id, local_slam_result_data, &submap_controller_)}));
00042 }
00043 
00044 }  // namespace cloud
00045 }  // namespace cartographer