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_MAPPING_RANGE_DATA_INSERTER_H_ 00018 #define CARTOGRAPHER_MAPPING_RANGE_DATA_INSERTER_H_ 00019 00020 #include <utility> 00021 #include <vector> 00022 00023 #include "cartographer/mapping/grid_interface.h" 00024 #include "cartographer/mapping/proto/2d/submaps_options_2d.pb.h" 00025 #include "cartographer/sensor/range_data.h" 00026 00027 namespace cartographer { 00028 namespace mapping { 00029 00030 proto::RangeDataInserterOptions CreateRangeDataInserterOptions( 00031 common::LuaParameterDictionary* const parameter_dictionary); 00032 00033 class RangeDataInserterInterface { 00034 public: 00035 virtual ~RangeDataInserterInterface() {} 00036 00037 // Inserts 'range_data' into 'grid'. 00038 virtual void Insert(const sensor::RangeData& range_data, 00039 GridInterface* grid) const = 0; 00040 }; 00041 00042 } // namespace mapping 00043 } // namespace cartographer 00044 00045 #endif // CARTOGRAPHER_MAPPING_RANGE_DATA_INSERTER_H_