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 #ifndef CARTOGRAPHER_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_ 00018 #define CARTOGRAPHER_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_ 00019 00020 #include "cartographer/io/proto_stream_interface.h" 00021 #include "cartographer/mapping/pose_graph.h" 00022 #include "cartographer/mapping/proto/trajectory_builder_options.pb.h" 00023 00024 namespace cartographer { 00025 namespace io { 00026 00027 // The current serialization format version. 00028 static constexpr int kMappingStateSerializationFormatVersion = 2; 00029 static constexpr int kFormatVersionWithoutSubmapHistograms = 1; 00030 00031 // Serialize mapping state to a pbstream. 00032 void WritePbStream( 00033 const mapping::PoseGraph& pose_graph, 00034 const std::vector<mapping::proto::TrajectoryBuilderOptionsWithSensorIds>& 00035 builder_options, 00036 ProtoStreamWriterInterface* const writer, bool include_unfinished_submaps); 00037 00038 } // namespace io 00039 } // namespace cartographer 00040 00041 #endif // CARTOGRAPHER_IO_INTERNAL_MAPPING_STATE_SERIALIZATION_H_