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 #include "cartographer/cloud/internal/handlers/run_final_optimization_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 #include "cartographer/mapping/map_builder_interface.h" 00024 #include "cartographer/mapping/pose_graph.h" 00025 #include "google/protobuf/empty.pb.h" 00026 00027 namespace cartographer { 00028 namespace cloud { 00029 namespace handlers { 00030 00031 void RunFinalOptimizationHandler::OnRequest( 00032 const google::protobuf::Empty& request) { 00033 GetContext<MapBuilderContextInterface>() 00034 ->map_builder() 00035 .pose_graph() 00036 ->RunFinalOptimization(); 00037 Send(absl::make_unique<google::protobuf::Empty>()); 00038 } 00039 00040 } // namespace handlers 00041 } // namespace cloud 00042 } // namespace cartographer