cartographer: get_local_to_global_transform

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00001 /*
00002  * Copyright 2018 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_CLOUD_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
00018 #define CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H
00019 
00020 #include "async_grpc/rpc_handler.h"
00021 #include "cartographer/cloud/proto/map_builder_service.pb.h"
00022 #include "google/protobuf/empty.pb.h"
00023 
00024 namespace cartographer {
00025 namespace cloud {
00026 namespace handlers {
00027 
00028 DEFINE_HANDLER_SIGNATURE(
00029     GetLocalToGlobalTransformSignature, proto::GetLocalToGlobalTransformRequest,
00030     proto::GetLocalToGlobalTransformResponse,
00031     "/cartographer.cloud.proto.MapBuilderService/GetLocalToGlobalTransform")
00032 
00033 class GetLocalToGlobalTransformHandler
00034     : public async_grpc::RpcHandler<GetLocalToGlobalTransformSignature> {
00035  public:
00036   void OnRequest(
00037       const proto::GetLocalToGlobalTransformRequest& request) override;
00038 };
00039 
00040 }  // namespace handlers
00041 }  // namespace cloud
00042 }  // namespace cartographer
00043 
00044 #endif  // CARTOGRAPHER_CLOUD_INTERNAL_HANDLERS_GET_LOCAL_TO_GLOBAL_TRANSFORM_HANDLER_H