46 lines
1.7 KiB
C++
46 lines
1.7 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/map_builder_server.h"
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#include "cartographer/mapping/internal/2d/local_slam_result_2d.h"
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#include "cartographer/mapping/internal/3d/local_slam_result_3d.h"
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namespace cartographer {
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namespace cloud {
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template <>
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void MapBuilderContext<mapping::Submap2D>::EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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const mapping::proto::LocalSlamResultData& local_slam_result_data) {
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map_builder_server_->incoming_data_queue_.Push(absl::make_unique<Data>(
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Data{trajectory_id,
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absl::make_unique<mapping::LocalSlamResult2D>(
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sensor_id, local_slam_result_data, &submap_controller_)}));
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}
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template <>
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void MapBuilderContext<mapping::Submap3D>::EnqueueLocalSlamResultData(
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int trajectory_id, const std::string& sensor_id,
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const mapping::proto::LocalSlamResultData& local_slam_result_data) {
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map_builder_server_->incoming_data_queue_.Push(absl::make_unique<Data>(
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Data{trajectory_id,
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absl::make_unique<mapping::LocalSlamResult3D>(
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sensor_id, local_slam_result_data, &submap_controller_)}));
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}
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} // namespace cloud
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} // namespace cartographer
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