105 lines
3.5 KiB
C++
Executable File
105 lines
3.5 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_MAPPING_MAP_BUILDER_H_
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#define CARTOGRAPHER_MAPPING_MAP_BUILDER_H_
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#include <memory>
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#include "cartographer/common/thread_pool.h"
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#include "cartographer/mapping/map_builder_interface.h"
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#include "cartographer/mapping/pose_graph.h"
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#include "cartographer/mapping/proto/map_builder_options.pb.h"
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#include "cartographer/sensor/collator_interface.h"
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namespace cartographer {
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namespace mapping {
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// Wires up the complete SLAM stack with TrajectoryBuilders (for local submaps)
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// and a PoseGraph for loop closure.
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class MapBuilder : public MapBuilderInterface {
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public:
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explicit MapBuilder(const proto::MapBuilderOptions &options);
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~MapBuilder() override {}
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MapBuilder(const MapBuilder &) = delete;
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MapBuilder &operator=(const MapBuilder &) = delete;
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int AddTrajectoryBuilder(
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const std::set<SensorId> &expected_sensor_ids,
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const proto::TrajectoryBuilderOptions &trajectory_options,
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LocalSlamResultCallback local_slam_result_callback) override;
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int AddTrajectoryForDeserialization(
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const proto::TrajectoryBuilderOptionsWithSensorIds
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&options_with_sensor_ids_proto) override;
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void FinishTrajectory(int trajectory_id) override;
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std::string SubmapToProto(const SubmapId &submap_id,
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proto::SubmapQuery::Response *response) override;
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void SerializeState(bool include_unfinished_submaps,
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io::ProtoStreamWriterInterface *writer) override;
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bool SerializeStateToFile(bool include_unfinished_submaps,
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const std::string &filename) override;
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std::map<int, int> LoadState(io::ProtoStreamReaderInterface *reader,
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bool load_frozen_state) override;
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std::map<int, int> LoadStateFromFile(const std::string &filename,
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const bool load_frozen_state) override;
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mapping::PoseGraphInterface *pose_graph() override {
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return pose_graph_.get();
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}
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int num_trajectory_builders() const override {
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return trajectory_builders_.size();
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}
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mapping::TrajectoryBuilderInterface *GetTrajectoryBuilder(
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int trajectory_id) const override {
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return trajectory_builders_.at(trajectory_id).get();
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}
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const std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>
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&GetAllTrajectoryBuilderOptions() const override {
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return all_trajectory_builder_options_;
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}
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private:
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const proto::MapBuilderOptions options_;
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common::ThreadPool thread_pool_;
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std::unique_ptr<PoseGraph> pose_graph_;
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std::unique_ptr<sensor::CollatorInterface> sensor_collator_;
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std::vector<std::unique_ptr<mapping::TrajectoryBuilderInterface>>
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trajectory_builders_;
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std::vector<proto::TrajectoryBuilderOptionsWithSensorIds>
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all_trajectory_builder_options_;
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};
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std::unique_ptr<MapBuilderInterface> CreateMapBuilder(
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const proto::MapBuilderOptions& options);
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} // namespace mapping
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} // namespace cartographer
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#endif // CARTOGRAPHER_MAPPING_MAP_BUILDER_H_
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