local_slam_result_2d.h
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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_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
00018 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
00019 
00020 #include "cartographer/mapping/internal/submap_controller.h"
00021 #include "cartographer/mapping/local_slam_result_data.h"
00022 #include "cartographer/mapping/trajectory_builder_interface.h"
00023 
00024 namespace cartographer {
00025 namespace mapping {
00026 
00027 class LocalSlamResult2D : public LocalSlamResultData {
00028  public:
00029   LocalSlamResult2D(
00030       const std::string& sensor_id,
00031       const mapping::proto::LocalSlamResultData local_slam_result_data,
00032       SubmapController<mapping::Submap2D>* submap_controller)
00033       : LocalSlamResultData(sensor_id, common::FromUniversal(
00034                                            local_slam_result_data.timestamp())),
00035         sensor_id_(sensor_id),
00036         local_slam_result_data_(local_slam_result_data),
00037         submap_controller_(submap_controller) {}
00038 
00039   void AddToTrajectoryBuilder(
00040       TrajectoryBuilderInterface* const trajectory_builder) override;
00041   void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
00042 
00043  private:
00044   const std::string sensor_id_;
00045   const mapping::proto::LocalSlamResultData local_slam_result_data_;
00046   SubmapController<mapping::Submap2D>* submap_controller_;
00047 };
00048 
00049 }  // namespace mapping
00050 }  // namespace cartographer
00051 
00052 #endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:35