53 lines
1.7 KiB
C++
Executable File
53 lines
1.7 KiB
C++
Executable File
/*
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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_SENSOR_INTERNAL_DISPATCHABLE_H_
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#define CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
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#include "cartographer/mapping/trajectory_builder_interface.h"
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#include "cartographer/sensor/data.h"
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namespace cartographer {
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namespace sensor {
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template <typename DataType>
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class Dispatchable : public Data {
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public:
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Dispatchable(const std::string &sensor_id, const DataType &data)
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: Data(sensor_id), data_(data) {}
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common::Time GetTime() const override { return data_.time; }
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void AddToTrajectoryBuilder(
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mapping::TrajectoryBuilderInterface *const trajectory_builder) override {
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trajectory_builder->AddSensorData(sensor_id_, data_);
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}
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const DataType &data() const { return data_; }
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private:
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const DataType data_;
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};
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template <typename DataType>
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std::unique_ptr<Dispatchable<DataType>> MakeDispatchable(
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const std::string &sensor_id, const DataType &data) {
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return absl::make_unique<Dispatchable<DataType>>(sensor_id, data);
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}
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} // namespace sensor
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} // namespace cartographer
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#endif // CARTOGRAPHER_SENSOR_INTERNAL_DISPATCHABLE_H_
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