cartographer: local_slam_result

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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_LOCAL_SLAM_RESULT_DATA_H_
00018 #define CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_
00019 
00020 #include "cartographer/mapping/pose_graph.h"
00021 #include "cartographer/sensor/data.h"
00022 
00023 namespace cartographer {
00024 namespace mapping {
00025 
00026 class LocalSlamResultData : public sensor::Data {
00027  public:
00028   LocalSlamResultData(const std::string& sensor_id, common::Time time)
00029       : Data(sensor_id), time_(time) {}
00030 
00031   common::Time GetTime() const override { return time_; }
00032   virtual void AddToPoseGraph(int trajectory_id,
00033                               PoseGraph* pose_graph) const = 0;
00034 
00035  private:
00036   common::Time time_;
00037 };
00038 
00039 }  // namespace mapping
00040 }  // namespace cartographer
00041 
00042 #endif  // CARTOGRAPHER_MAPPING_LOCAL_SLAM_RESULT_DATA_H_