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00017 #include "cartographer/cloud/internal/handlers/get_all_submap_poses.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 "cartographer/transform/transform.h"
00024 #include "google/protobuf/empty.pb.h"
00025
00026 namespace cartographer {
00027 namespace cloud {
00028 namespace handlers {
00029
00030 void GetAllSubmapPosesHandler::OnRequest(
00031 const google::protobuf::Empty& request) {
00032 auto submap_poses = GetContext<MapBuilderContextInterface>()
00033 ->map_builder()
00034 .pose_graph()
00035 ->GetAllSubmapPoses();
00036 auto response = absl::make_unique<proto::GetAllSubmapPosesResponse>();
00037 for (const auto& submap_id_pose : submap_poses) {
00038 auto* submap_pose = response->add_submap_poses();
00039 submap_id_pose.id.ToProto(submap_pose->mutable_submap_id());
00040 submap_pose->set_submap_version(submap_id_pose.data.version);
00041 *submap_pose->mutable_global_pose() =
00042 transform::ToProto(submap_id_pose.data.pose);
00043 }
00044 Send(std::move(response));
00045 }
00046
00047 }
00048 }
00049 }