54 lines
1.6 KiB
C++
Executable File
54 lines
1.6 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_IO_POINTS_PROCESSOR_H_
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#define CARTOGRAPHER_IO_POINTS_PROCESSOR_H_
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#include <memory>
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#include "cartographer/io/points_batch.h"
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namespace cartographer {
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namespace io {
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// A processor in a pipeline. It processes a 'points_batch' and hands it to the
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// next processor in the pipeline.
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class PointsProcessor {
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public:
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enum class FlushResult {
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kRestartStream,
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kFinished,
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};
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PointsProcessor() {}
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virtual ~PointsProcessor() {}
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PointsProcessor(const PointsProcessor&) = delete;
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PointsProcessor& operator=(const PointsProcessor&) = delete;
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// Receive a 'points_batch', process it and pass it on.
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virtual void Process(std::unique_ptr<PointsBatch> points_batch) = 0;
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// Some implementations will perform expensive computations and others that do
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// multiple passes over the data might ask for restarting the stream.
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virtual FlushResult Flush() = 0;
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};
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} // namespace io
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} // namespace cartographer
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#endif // CARTOGRAPHER_IO_POINTS_PROCESSOR_H_
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