53 lines
1.9 KiB
C
53 lines
1.9 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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#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
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#define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
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#include "cartographer/mapping/internal/local_slam_result_data.h"
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#include "cartographer/mapping/internal/submap_controller.h"
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#include "cartographer/mapping/trajectory_builder_interface.h"
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namespace cartographer {
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namespace mapping {
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class LocalSlamResult2D : public LocalSlamResultData {
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public:
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LocalSlamResult2D(
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const std::string& sensor_id,
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const mapping::proto::LocalSlamResultData local_slam_result_data,
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SubmapController<mapping::Submap2D>* submap_controller)
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: LocalSlamResultData(sensor_id, common::FromUniversal(
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local_slam_result_data.timestamp())),
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sensor_id_(sensor_id),
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local_slam_result_data_(local_slam_result_data),
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submap_controller_(submap_controller) {}
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void AddToTrajectoryBuilder(
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TrajectoryBuilderInterface* const trajectory_builder) override;
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void AddToPoseGraph(int trajectory_id, PoseGraph* pose_graph) const override;
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private:
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const std::string sensor_id_;
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const mapping::proto::LocalSlamResultData local_slam_result_data_;
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SubmapController<mapping::Submap2D>* submap_controller_;
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};
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_SLAM_RESULT_2D_H_
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