cartographer: add_rangefinder_data

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00001 /*
00002  * Copyright 2017 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_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
00018 #define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H
00019 
00020 #include "async_grpc/rpc_handler.h"
00021 #include "cartographer/cloud/internal/handlers/add_sensor_data_handler_base.h"
00022 #include "cartographer/cloud/proto/map_builder_service.pb.h"
00023 #include "google/protobuf/empty.pb.h"
00024 
00025 namespace cartographer {
00026 namespace cloud {
00027 namespace handlers {
00028 
00029 DEFINE_HANDLER_SIGNATURE(
00030     AddRangefinderDataSignature,
00031     async_grpc::Stream<proto::AddRangefinderDataRequest>,
00032     google::protobuf::Empty,
00033     "/cartographer.cloud.proto.MapBuilderService/AddRangefinderData")
00034 
00035 class AddRangefinderDataHandler
00036     : public AddSensorDataHandlerBase<AddRangefinderDataSignature> {
00037  public:
00038   void OnSensorData(const proto::AddRangefinderDataRequest& request) override;
00039 };
00040 
00041 }  // namespace handlers
00042 }  // namespace cloud
00043 }  // namespace cartographer
00044 
00045 #endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_ADD_RANGEFINDER_DATA_HANDLER_H