50 lines
1.4 KiB
C
50 lines
1.4 KiB
C
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/*
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* Copyright 2016 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_DATA_H_
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#define CARTOGRAPHER_MAPPING_DATA_H_
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#include "absl/memory/memory.h"
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#include "cartographer/common/time.h"
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#include "cartographer/transform/rigid_transform.h"
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namespace cartographer {
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namespace mapping {
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class TrajectoryBuilderInterface;
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}
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namespace sensor {
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class Data {
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public:
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explicit Data(const std::string &sensor_id) : sensor_id_(sensor_id) {}
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virtual ~Data() {}
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virtual common::Time GetTime() const = 0;
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const std::string &GetSensorId() const { return sensor_id_; }
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virtual void AddToTrajectoryBuilder(
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mapping::TrajectoryBuilderInterface *trajectory_builder) = 0;
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protected:
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const std::string sensor_id_;
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};
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_DATA_H_
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