43 lines
1.4 KiB
C++
Executable File
43 lines
1.4 KiB
C++
Executable File
/*
|
|
* Copyright 2018 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#include "cartographer/cloud/internal/handlers/set_landmark_pose_handler.h"
|
|
|
|
#include "async_grpc/rpc_handler.h"
|
|
#include "cartographer/cloud/internal/map_builder_context_interface.h"
|
|
#include "cartographer/cloud/proto/map_builder_service.pb.h"
|
|
#include "cartographer/transform/transform.h"
|
|
#include "google/protobuf/empty.pb.h"
|
|
|
|
namespace cartographer {
|
|
namespace cloud {
|
|
namespace handlers {
|
|
|
|
void SetLandmarkPoseHandler::OnRequest(
|
|
const proto::SetLandmarkPoseRequest& request) {
|
|
GetContext<MapBuilderContextInterface>()
|
|
->map_builder()
|
|
.pose_graph()
|
|
->SetLandmarkPose(
|
|
request.landmark_pose().landmark_id(),
|
|
transform::ToRigid3(request.landmark_pose().global_pose()));
|
|
Send(absl::make_unique<google::protobuf::Empty>());
|
|
}
|
|
|
|
} // namespace handlers
|
|
} // namespace cloud
|
|
} // namespace cartographer
|