is_trajectory_frozen_handler.cc
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1 /*
2  * Copyright 2018 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 
19 #include "async_grpc/rpc_handler.h"
21 #include "cartographer/cloud/proto/map_builder_service.pb.h"
23 
24 namespace cartographer {
25 namespace cloud {
26 namespace handlers {
27 
28 void IsTrajectoryFrozenHandler::OnRequest(
29  const proto::IsTrajectoryFrozenRequest& request) {
30  auto response = common::make_unique<proto::IsTrajectoryFrozenResponse>();
31  response->set_is_frozen(GetContext<MapBuilderContextInterface>()
32  ->map_builder()
33  .pose_graph()
34  ->IsTrajectoryFrozen(request.trajectory_id()));
35  Send(std::move(response));
36 }
37 
38 } // namespace handlers
39 } // namespace cloud
40 } // namespace cartographer


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