49 lines
1.6 KiB
C++
49 lines
1.6 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/mapping/internal/submap_controller.h"
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namespace cartographer {
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namespace mapping {
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template <>
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std::shared_ptr<mapping::Submap2D>
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SubmapController<mapping::Submap2D>::CreateSubmap(
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const mapping::proto::Submap& proto) {
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if (proto.submap_2d().num_range_data() != 1) {
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LOG(WARNING) << "Refusing to create partially filled submap: "
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<< proto.submap_2d().num_range_data();
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return nullptr;
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}
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return std::make_shared<mapping::Submap2D>(proto.submap_2d(),
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&conversion_tables_);
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}
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template <>
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std::shared_ptr<mapping::Submap3D>
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SubmapController<mapping::Submap3D>::CreateSubmap(
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const mapping::proto::Submap& proto) {
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if (proto.submap_3d().num_range_data() != 1) {
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LOG(INFO) << "Refusing to create partially filled submap: "
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<< proto.submap_3d().num_range_data();
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return nullptr;
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}
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return std::make_shared<mapping::Submap3D>(proto.submap_3d());
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}
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} // namespace mapping
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} // namespace cartographer
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