68 lines
2.0 KiB
C++
68 lines
2.0 KiB
C++
/*
|
|
* Copyright 2016 The Cartographer Authors
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
* See the License for the specific language governing permissions and
|
|
* limitations under the License.
|
|
*/
|
|
|
|
#ifndef CARTOGRAPHER_MAPPING_DATA_H_
|
|
#define CARTOGRAPHER_MAPPING_DATA_H_
|
|
|
|
#include "cartographer/common/make_unique.h"
|
|
#include "cartographer/common/time.h"
|
|
#include "cartographer/mapping/trajectory_builder_interface.h"
|
|
#include "cartographer/transform/rigid_transform.h"
|
|
|
|
namespace cartographer {
|
|
namespace sensor {
|
|
|
|
class Data {
|
|
public:
|
|
explicit Data(const std::string &sensor_id) : sensor_id_(sensor_id) {}
|
|
virtual ~Data() {}
|
|
|
|
virtual common::Time GetTime() const = 0;
|
|
const std::string &GetSensorId() const { return sensor_id_; }
|
|
virtual void AddToTrajectoryBuilder(
|
|
mapping::TrajectoryBuilderInterface *trajectory_builder) = 0;
|
|
|
|
protected:
|
|
const std::string sensor_id_;
|
|
};
|
|
|
|
template <typename DataType>
|
|
class Dispatchable : public Data {
|
|
public:
|
|
Dispatchable(const std::string &sensor_id, const DataType &data)
|
|
: Data(sensor_id), data_(data) {}
|
|
|
|
common::Time GetTime() const override { return data_.time; }
|
|
void AddToTrajectoryBuilder(
|
|
mapping::TrajectoryBuilderInterface *const trajectory_builder) override {
|
|
trajectory_builder->AddSensorData(sensor_id_, data_);
|
|
}
|
|
|
|
private:
|
|
const DataType data_;
|
|
};
|
|
|
|
template <typename DataType>
|
|
std::unique_ptr<Dispatchable<DataType>> MakeDispatchable(
|
|
const std::string &sensor_id, const DataType &data) {
|
|
return common::make_unique<Dispatchable<DataType>>(sensor_id, data);
|
|
}
|
|
|
|
} // namespace sensor
|
|
} // namespace cartographer
|
|
|
|
#endif // CARTOGRAPHER_MAPPING_DATA_H_
|