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