cartographer: get_submap_handler.cc Source File

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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 #include "cartographer/cloud/internal/handlers/get_submap_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 GetSubmapHandler::OnRequest(const proto::GetSubmapRequest &request) {
00030   auto response = absl::make_unique<proto::GetSubmapResponse>();
00031   response->set_error_msg(
00032       GetContext<MapBuilderContextInterface>()->map_builder().SubmapToProto(
00033           mapping::SubmapId{request.submap_id().trajectory_id(),
00034                             request.submap_id().submap_index()},
00035           response->mutable_submap_query_response()));
00036   Send(std::move(response));
00037 }
00038 
00039 }  // namespace handlers
00040 }  // namespace cloud
00041 }  // namespace cartographer