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00017 #include "cartographer/cloud/internal/handlers/get_landmark_poses_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/transform/transform.h"
00024 #include "google/protobuf/empty.pb.h"
00025
00026 namespace cartographer {
00027 namespace cloud {
00028 namespace handlers {
00029
00030 void GetLandmarkPosesHandler::OnRequest(
00031 const google::protobuf::Empty& request) {
00032 auto landmark_poses = GetContext<MapBuilderContextInterface>()
00033 ->map_builder()
00034 .pose_graph()
00035 ->GetLandmarkPoses();
00036 auto response = absl::make_unique<proto::GetLandmarkPosesResponse>();
00037 for (const auto& landmark_pose : landmark_poses) {
00038 auto* landmark = response->add_landmark_poses();
00039 landmark->set_landmark_id(landmark_pose.first);
00040 *landmark->mutable_global_pose() = transform::ToProto(landmark_pose.second);
00041 }
00042 Send(std::move(response));
00043 }
00044
00045 }
00046 }
00047 }