#include <map_builder_server.h>

Inheritance diagram for cartographer::cloud::MapBuilderServer:

Public Member Functions
	MapBuilderServer (const proto::MapBuilderServerOptions &map_builder_server_options, std::unique_ptr< mapping::MapBuilderInterface > map_builder)

void	Shutdown () final

void	Start () final

void	WaitForShutdown () final

void	WaitUntilIdle () final

	~MapBuilderServer ()

Public Member Functions inherited from cartographer::cloud::MapBuilderServerInterface
virtual	~MapBuilderServerInterface ()

Static Public Member Functions
static void	RegisterMetrics (metrics::FamilyFactory *family_factory)

Private Types
using	LocalSlamResultHandlerSubscriptions = std::map< int, MapBuilderContextInterface::LocalSlamSubscriptionCallback >

Private Member Functions
std::map< int, LocalSlamResultHandlerSubscriptions > local_slam_subscriptions_	GUARDED_BY (subscriptions_lock_)

std::map< int, MapBuilderContextInterface::GlobalSlamOptimizationCallback > global_slam_subscriptions_	GUARDED_BY (subscriptions_lock_)

void	NotifyFinishTrajectory (int trajectory_id)

void	OnGlobalSlamOptimizations (const std::map< int, mapping::SubmapId > &last_optimized_submap_ids, const std::map< int, mapping::NodeId > &last_optimized_node_ids)

void	OnLocalSlamResult (int trajectory_id, common::Time time, transform::Rigid3d local_pose, sensor::RangeData range_data, std::unique_ptr< const mapping::TrajectoryBuilderInterface::InsertionResult > insertion_result)

void	ProcessSensorDataQueue ()

void	StartSlamThread ()

int	SubscribeGlobalSlamOptimizations (MapBuilderContextInterface::GlobalSlamOptimizationCallback callback)

MapBuilderContextInterface::LocalSlamSubscriptionId	SubscribeLocalSlamResults (int trajectory_id, MapBuilderContextInterface::LocalSlamSubscriptionCallback callback)

void	UnsubscribeGlobalSlamOptimizations (int subscription_index)

void	UnsubscribeLocalSlamResults (const MapBuilderContextInterface::LocalSlamSubscriptionId &subscription_id)

Private Attributes
int	current_subscription_index_ = 0

std::unique_ptr< async_grpc::Server >	grpc_server_

common::BlockingQueue< std::unique_ptr< MapBuilderContextInterface::Data > >	incoming_data_queue_

std::unique_ptr< LocalTrajectoryUploaderInterface >	local_trajectory_uploader_

std::unique_ptr< mapping::MapBuilderInterface >	map_builder_

bool	shutting_down_ = false

std::unique_ptr< std::thread >	slam_thread_

int	starting_submap_index_ = 0

common::Mutex	subscriptions_lock_

Detailed Description

Definition at line 73 of file map_builder_server.h.

Member Typedef Documentation

◆ LocalSlamResultHandlerSubscriptions

using cartographer::cloud::MapBuilderServer::LocalSlamResultHandlerSubscriptions = std::map<int , MapBuilderContextInterface::LocalSlamSubscriptionCallback>

private

Definition at line 103 of file map_builder_server.h.

Constructor & Destructor Documentation

◆ MapBuilderServer()

cartographer::cloud::MapBuilderServer::MapBuilderServer	(	const proto::MapBuilderServerOptions &	map_builder_server_options,
		std::unique_ptr< mapping::MapBuilderInterface >	map_builder
	)

Definition at line 53 of file map_builder_server.cc.

◆ ~MapBuilderServer()

cartographer::cloud::MapBuilderServer::~MapBuilderServer ( )

inline

Definition at line 81 of file map_builder_server.h.

Member Function Documentation

◆ GUARDED_BY() [1/2]

std::map<int , LocalSlamResultHandlerSubscriptions> local_slam_subscriptions_ cartographer::cloud::MapBuilderServer::GUARDED_BY ( subscriptions_lock_ )

private

◆ GUARDED_BY() [2/2]

std::map<int , MapBuilderContextInterface::GlobalSlamOptimizationCallback> global_slam_subscriptions_ cartographer::cloud::MapBuilderServer::GUARDED_BY ( subscriptions_lock_ )

private

◆ NotifyFinishTrajectory()

void cartographer::cloud::MapBuilderServer::NotifyFinishTrajectory ( int trajectory_id )

private

Definition at line 259 of file map_builder_server.cc.

◆ OnGlobalSlamOptimizations()

void cartographer::cloud::MapBuilderServer::OnGlobalSlamOptimizations	(	const std::map< int, mapping::SubmapId > &	last_optimized_submap_ids,
		const std::map< int, mapping::NodeId > &	last_optimized_node_ids
	)

private

Definition at line 214 of file map_builder_server.cc.

◆ OnLocalSlamResult()

void cartographer::cloud::MapBuilderServer::OnLocalSlamResult	(	int	trajectory_id,
		common::Time	time,
		transform::Rigid3d	local_pose,
		sensor::RangeData	range_data,
		std::unique_ptr< const mapping::TrajectoryBuilderInterface::InsertionResult >	insertion_result
	)

private

Definition at line 163 of file map_builder_server.cc.

◆ ProcessSensorDataQueue()

void cartographer::cloud::MapBuilderServer::ProcessSensorDataQueue ( )

private

Definition at line 142 of file map_builder_server.cc.

◆ RegisterMetrics()

void cartographer::cloud::MapBuilderServer::RegisterMetrics ( metrics::FamilyFactory * family_factory )

static

Definition at line 274 of file map_builder_server.cc.

◆ Shutdown()

void cartographer::cloud::MapBuilderServer::Shutdown ( )

finalvirtual

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 129 of file map_builder_server.cc.

◆ Start()

void cartographer::cloud::MapBuilderServer::Start ( )

finalvirtual

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 110 of file map_builder_server.cc.

◆ StartSlamThread()

void cartographer::cloud::MapBuilderServer::StartSlamThread ( )

private

Definition at line 155 of file map_builder_server.cc.

◆ SubscribeGlobalSlamOptimizations()

int cartographer::cloud::MapBuilderServer::SubscribeGlobalSlamOptimizations ( MapBuilderContextInterface::GlobalSlamOptimizationCallback callback )

private

Definition at line 246 of file map_builder_server.cc.

◆ SubscribeLocalSlamResults()

MapBuilderContextInterface::LocalSlamSubscriptionId cartographer::cloud::MapBuilderServer::SubscribeLocalSlamResults	(	int	trajectory_id,
		MapBuilderContextInterface::LocalSlamSubscriptionCallback	callback
	)

private

Definition at line 227 of file map_builder_server.cc.

◆ UnsubscribeGlobalSlamOptimizations()

void cartographer::cloud::MapBuilderServer::UnsubscribeGlobalSlamOptimizations ( int subscription_index )

private

Definition at line 253 of file map_builder_server.cc.

◆ UnsubscribeLocalSlamResults()

void cartographer::cloud::MapBuilderServer::UnsubscribeLocalSlamResults ( const MapBuilderContextInterface::LocalSlamSubscriptionId & subscription_id )

private

Definition at line 237 of file map_builder_server.cc.

◆ WaitForShutdown()

void cartographer::cloud::MapBuilderServer::WaitForShutdown ( )

finalvirtual

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 119 of file map_builder_server.cc.

◆ WaitUntilIdle()

void cartographer::cloud::MapBuilderServer::WaitUntilIdle ( )

finalvirtual

Implements cartographer::cloud::MapBuilderServerInterface.

Definition at line 269 of file map_builder_server.cc.

Member Data Documentation

◆ current_subscription_index_

int cartographer::cloud::MapBuilderServer::current_subscription_index_ = 0

private

Definition at line 134 of file map_builder_server.h.

◆ grpc_server_

std::unique_ptr<async_grpc::Server> cartographer::cloud::MapBuilderServer::grpc_server_

private

Definition at line 129 of file map_builder_server.h.

◆ incoming_data_queue_

common::BlockingQueue<std::unique_ptr<MapBuilderContextInterface::Data> > cartographer::cloud::MapBuilderServer::incoming_data_queue_

private

Definition at line 132 of file map_builder_server.h.

◆ local_trajectory_uploader_

std::unique_ptr<LocalTrajectoryUploaderInterface> cartographer::cloud::MapBuilderServer::local_trajectory_uploader_

private

Definition at line 140 of file map_builder_server.h.

◆ map_builder_

std::unique_ptr<mapping::MapBuilderInterface> cartographer::cloud::MapBuilderServer::map_builder_

private

Definition at line 130 of file map_builder_server.h.

◆ shutting_down_

bool cartographer::cloud::MapBuilderServer::shutting_down_ = false

private

Definition at line 127 of file map_builder_server.h.

◆ slam_thread_

std::unique_ptr<std::thread> cartographer::cloud::MapBuilderServer::slam_thread_

private

Definition at line 128 of file map_builder_server.h.

◆ starting_submap_index_

int cartographer::cloud::MapBuilderServer::starting_submap_index_ = 0

private

Definition at line 141 of file map_builder_server.h.

◆ subscriptions_lock_

common::Mutex cartographer::cloud::MapBuilderServer::subscriptions_lock_

private

Definition at line 133 of file map_builder_server.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ LocalSlamResultHandlerSubscriptions

Constructor & Destructor Documentation

◆ MapBuilderServer()

◆ ~MapBuilderServer()

Member Function Documentation

◆ GUARDED_BY() [1/2]

◆ GUARDED_BY() [2/2]

◆ NotifyFinishTrajectory()

◆ OnGlobalSlamOptimizations()

◆ OnLocalSlamResult()

◆ ProcessSensorDataQueue()

◆ RegisterMetrics()

◆ Shutdown()

◆ Start()

◆ StartSlamThread()

◆ SubscribeGlobalSlamOptimizations()

◆ SubscribeLocalSlamResults()

◆ UnsubscribeGlobalSlamOptimizations()

◆ UnsubscribeLocalSlamResults()

◆ WaitForShutdown()

◆ WaitUntilIdle()

Member Data Documentation

◆ current_subscription_index_

◆ grpc_server_

◆ incoming_data_queue_

◆ local_trajectory_uploader_

◆ map_builder_

◆ shutting_down_

◆ slam_thread_

◆ starting_submap_index_

◆ subscriptions_lock_