cartographer_ros: node_constants.cc Source File

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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 #include "cartographer_ros/node_constants.h"
00018 
00019 #include "glog/logging.h"
00020 
00021 namespace cartographer_ros {
00022 
00023 std::vector<std::string> ComputeRepeatedTopicNames(const std::string& topic,
00024                                                    const int num_topics) {
00025   CHECK_GE(num_topics, 0);
00026   if (num_topics == 1) {
00027     return {topic};
00028   }
00029   std::vector<std::string> topics;
00030   topics.reserve(num_topics);
00031   for (int i = 0; i < num_topics; ++i) {
00032     topics.emplace_back(topic + "_" + std::to_string(i + 1));
00033   }
00034   return topics;
00035 }
00036 
00037 }  // namespace cartographer_ros