00001 /* 00002 * Copyright 2016 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_IO_XYZ_WRITING_POINTS_PROCESSOR_H_ 00018 #define CARTOGRAPHER_IO_XYZ_WRITING_POINTS_PROCESSOR_H_ 00019 00020 #include <fstream> 00021 #include <memory> 00022 #include <string> 00023 00024 #include "cartographer/common/lua_parameter_dictionary.h" 00025 #include "cartographer/io/file_writer.h" 00026 #include "cartographer/io/points_processor.h" 00027 00028 namespace cartographer { 00029 namespace io { 00030 00031 // Writes ASCII xyz points. 00032 class XyzWriterPointsProcessor : public PointsProcessor { 00033 public: 00034 constexpr static const char* kConfigurationFileActionName = "write_xyz"; 00035 00036 XyzWriterPointsProcessor(std::unique_ptr<FileWriter>, PointsProcessor* next); 00037 00038 static std::unique_ptr<XyzWriterPointsProcessor> FromDictionary( 00039 const FileWriterFactory& file_writer_factory, 00040 common::LuaParameterDictionary* dictionary, PointsProcessor* next); 00041 00042 ~XyzWriterPointsProcessor() override {} 00043 00044 XyzWriterPointsProcessor(const XyzWriterPointsProcessor&) = delete; 00045 XyzWriterPointsProcessor& operator=(const XyzWriterPointsProcessor&) = delete; 00046 00047 void Process(std::unique_ptr<PointsBatch> batch) override; 00048 FlushResult Flush() override; 00049 00050 private: 00051 PointsProcessor* const next_; 00052 std::unique_ptr<FileWriter> file_writer_; 00053 }; 00054 00055 } // namespace io 00056 } // namespace cartographer 00057 00058 #endif // CARTOGRAPHER_IO_XYZ_WRITING_POINTS_PROCESSOR_H_