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00017 #include "cartographer/cloud/internal/handlers/get_constraints_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 "cartographer/mapping/pose_graph.h"
00024 #include "google/protobuf/empty.pb.h"
00025
00026 namespace cartographer {
00027 namespace cloud {
00028 namespace handlers {
00029
00030 void GetConstraintsHandler::OnRequest(const google::protobuf::Empty& request) {
00031 auto constraints = GetContext<MapBuilderContextInterface>()
00032 ->map_builder()
00033 .pose_graph()
00034 ->constraints();
00035 auto response = absl::make_unique<proto::GetConstraintsResponse>();
00036 response->mutable_constraints()->Reserve(constraints.size());
00037 for (const auto& constraint : constraints) {
00038 *response->add_constraints() = mapping::ToProto(constraint);
00039 }
00040 Send(std::move(response));
00041 }
00042
00043 }
00044 }
00045 }