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00017 #include "cartographer/cloud/internal/handlers/is_trajectory_frozen_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 IsTrajectoryFrozenHandler::OnRequest(
00029 const proto::IsTrajectoryFrozenRequest& request) {
00030 auto response = absl::make_unique<proto::IsTrajectoryFrozenResponse>();
00031 response->set_is_frozen(GetContext<MapBuilderContextInterface>()
00032 ->map_builder()
00033 .pose_graph()
00034 ->IsTrajectoryFrozen(request.trajectory_id()));
00035 Send(std::move(response));
00036 }
00037
00038 }
00039 }
00040 }