counting_points_processor.cc
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
18 
20 #include "glog/logging.h"
21 
22 namespace cartographer {
23 namespace io {
24 
26  : num_points_(0), next_(next) {}
27 
28 std::unique_ptr<CountingPointsProcessor>
30  common::LuaParameterDictionary* const dictionary,
31  PointsProcessor* const next) {
32  return common::make_unique<CountingPointsProcessor>(next);
33 }
34 
35 void CountingPointsProcessor::Process(std::unique_ptr<PointsBatch> batch) {
36  num_points_ += batch->points.size();
37  next_->Process(std::move(batch));
38 }
39 
41  switch (next_->Flush()) {
43  LOG(INFO) << "Processed " << num_points_ << " and finishing.";
45 
47  LOG(INFO) << "Processed " << num_points_ << " and restarting stream.";
48  num_points_ = 0;
50  }
51  LOG(FATAL);
52 }
53 
54 } // namespace io
55 } // namespace cartographer
virtual void Process(std::unique_ptr< PointsBatch > points_batch)=0
void Process(std::unique_ptr< PointsBatch > points) override
static std::unique_ptr< CountingPointsProcessor > FromDictionary(common::LuaParameterDictionary *dictionary, PointsProcessor *next)
virtual FlushResult Flush()=0


cartographer
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:00:58