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00017 #include "cartographer/cloud/internal/handlers/delete_trajectory_handler.h"
00018
00019 #include "absl/memory/memory.h"
00020 #include "async_grpc/rpc_handler.h"
00021 #include "cartographer/cloud/internal/map_builder_context_interface.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 void DeleteTrajectoryHandler::OnRequest(
00030 const proto::DeleteTrajectoryRequest& request) {
00031 if (!GetContext<MapBuilderContextInterface>()->CheckClientIdForTrajectory(
00032 request.client_id(), request.trajectory_id())) {
00033 LOG(ERROR) << "Unknown trajectory with ID " << request.trajectory_id()
00034 << " and client_id " << request.client_id();
00035 Finish(::grpc::Status(::grpc::NOT_FOUND, "Unknown trajectory"));
00036 return;
00037 }
00038 GetContext<MapBuilderContextInterface>()
00039 ->map_builder()
00040 .pose_graph()
00041 ->DeleteTrajectory(request.trajectory_id());
00042
00043 Send(absl::make_unique<google::protobuf::Empty>());
00044 }
00045
00046 }
00047 }
00048 }