local_slam_result_2d.cc

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/*
 * Copyright 2018 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"

#include "cartographer/mapping/internal/2d/pose_graph_2d.h"

namespace cartographer {
namespace mapping {

void LocalSlamResult2D::AddToTrajectoryBuilder(
    TrajectoryBuilderInterface* const trajectory_builder) {
  trajectory_builder->AddLocalSlamResultData(
      absl::make_unique<LocalSlamResult2D>(*this));
}

void LocalSlamResult2D::AddToPoseGraph(int trajectory_id,
                                       PoseGraph* pose_graph) const {
  DCHECK(dynamic_cast<PoseGraph2D*>(pose_graph));
  CHECK_GE(local_slam_result_data_.submaps().size(), 1);
  CHECK(local_slam_result_data_.submaps(0).has_submap_2d());
  std::vector<std::shared_ptr<const mapping::Submap2D>> submaps;
  for (const auto& submap_proto : local_slam_result_data_.submaps()) {
    auto submap_ptr = submap_controller_->UpdateSubmap(submap_proto);
    if (submap_ptr) {
      submaps.push_back(submap_ptr);
    } else {
      LOG(INFO) << "Ignoring submap";
    }
  }
  if (submaps.size() == 0) {
    LOG(INFO) << "Ignoring node";
    return;
  }
  static_cast<PoseGraph2D*>(pose_graph)
      ->AddNode(std::make_shared<const mapping::TrajectoryNode::Data>(
                    mapping::FromProto(local_slam_result_data_.node_data())),
                trajectory_id, submaps);
}

}  // namespace mapping
}  // namespace cartographer