Go to the documentation of this file.00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017 #include "cartographer/cloud/internal/handlers/is_trajectory_finished_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
00024 namespace cartographer {
00025 namespace cloud {
00026 namespace handlers {
00027
00028 void IsTrajectoryFinishedHandler::OnRequest(
00029 const proto::IsTrajectoryFinishedRequest& request) {
00030 auto response = absl::make_unique<proto::IsTrajectoryFinishedResponse>();
00031 response->set_is_finished(
00032 GetContext<MapBuilderContextInterface>()
00033 ->map_builder()
00034 .pose_graph()
00035 ->IsTrajectoryFinished(request.trajectory_id()));
00036 Send(std::move(response));
00037 }
00038
00039 }
00040 }
00041 }