77 lines
2.4 KiB
C++
77 lines
2.4 KiB
C++
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/*
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* Copyright 2018 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/cloud/internal/mapping/serialization.h"
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#include "cartographer/common/port.h"
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namespace cartographer {
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namespace cloud {
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namespace {
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using TrajectoryState =
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::cartographer::mapping::PoseGraphInterface::TrajectoryState;
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} // namespace
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proto::TrajectoryState ToProto(const TrajectoryState& trajectory_state) {
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switch (trajectory_state) {
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case TrajectoryState::ACTIVE:
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return proto::TrajectoryState::ACTIVE;
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case TrajectoryState::FINISHED:
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return proto::TrajectoryState::FINISHED;
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case TrajectoryState::FROZEN:
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return proto::TrajectoryState::FROZEN;
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case TrajectoryState::DELETED:
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return proto::TrajectoryState::DELETED;
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default:
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LOG(FATAL) << "Unknown TrajectoryState";
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}
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}
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TrajectoryState FromProto(const proto::TrajectoryState& proto) {
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switch (proto) {
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case proto::TrajectoryState::ACTIVE:
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return TrajectoryState::ACTIVE;
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case proto::TrajectoryState::FINISHED:
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return TrajectoryState::FINISHED;
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case proto::TrajectoryState::FROZEN:
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return TrajectoryState::FROZEN;
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case proto::TrajectoryState::DELETED:
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return TrajectoryState::DELETED;
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default:
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LOG(FATAL) << "Unknown proto::TrajectoryState";
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}
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}
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proto::TrajectoryRemapping ToProto(
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const std::map<int, int>& trajectory_remapping) {
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proto::TrajectoryRemapping proto;
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*proto.mutable_serialized_trajectories_to_trajectories() =
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google::protobuf::Map<int32, int32>(trajectory_remapping.begin(),
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trajectory_remapping.end());
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return proto;
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}
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std::map<int, int> FromProto(const proto::TrajectoryRemapping& proto) {
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return std::map<int, int>(
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proto.serialized_trajectories_to_trajectories().begin(),
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proto.serialized_trajectories_to_trajectories().end());
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}
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} // namespace cloud
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} // namespace cartographer
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