data.h
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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 #ifndef CARTOGRAPHER_MAPPING_DATA_H_
00018 #define CARTOGRAPHER_MAPPING_DATA_H_
00019 
00020 #include "absl/memory/memory.h"
00021 #include "cartographer/common/time.h"
00022 #include "cartographer/transform/rigid_transform.h"
00023 
00024 namespace cartographer {
00025 
00026 namespace mapping {
00027 class TrajectoryBuilderInterface;
00028 }
00029 
00030 namespace sensor {
00031 
00032 class Data {
00033  public:
00034   explicit Data(const std::string &sensor_id) : sensor_id_(sensor_id) {}
00035   virtual ~Data() {}
00036 
00037   virtual common::Time GetTime() const = 0;
00038   const std::string &GetSensorId() const { return sensor_id_; }
00039   virtual void AddToTrajectoryBuilder(
00040       mapping::TrajectoryBuilderInterface *trajectory_builder) = 0;
00041 
00042  protected:
00043   const std::string sensor_id_;
00044 };
00045 
00046 }  // namespace sensor
00047 }  // namespace cartographer
00048 
00049 #endif  // CARTOGRAPHER_MAPPING_DATA_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:35