Program Listing for File assets_writer.h
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/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include <string>
#include <vector>
#include "cartographer/common/configuration_file_resolver.h"
#include "cartographer/io/points_processor_pipeline_builder.h"
#include "cartographer/mapping/proto/pose_graph.pb.h"
#include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
#include <rclcpp/rclcpp.hpp>
#ifndef CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ASSETS_WRITER_H
#define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ASSETS_WRITER_H
namespace cartographer_ros {
class AssetsWriter {
public:
AssetsWriter(const std::string& pose_graph_filename,
const std::vector<std::string>& bag_filenames,
const std::string& output_file_prefix);
// Registers a new PointsProcessor type uniquly identified by 'name' which
// will be created using 'factory'.
void RegisterPointsProcessor(
const std::string& name,
cartographer::io::PointsProcessorPipelineBuilder::FactoryFunction
factory);
// Configures a points processing pipeline and pushes the points from the
// bag through the pipeline.
void Run(const std::string& configuration_directory,
const std::string& configuration_basename,
const std::string& urdf_filename, bool use_bag_transforms);
// Creates a FileWriterFactory which creates a FileWriter for storing assets.
static ::cartographer::io::FileWriterFactory CreateFileWriterFactory(
const std::string& file_path);
private:
std::vector<std::string> bag_filenames_;
std::vector<::cartographer::mapping::proto::Trajectory> all_trajectories_;
::cartographer::mapping::proto::PoseGraph pose_graph_;
std::unique_ptr<::cartographer::io::PointsProcessorPipelineBuilder>
point_pipeline_builder_;
};
} // namespace cartographer_ros
#endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_ASSETS_WRITER_H