39 lines
1.3 KiB
C
39 lines
1.3 KiB
C
|
/*
|
||
|
|
* Copyright 2018 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_CLOUD_INTERNAL_MAPPING_SERIALIZATION_H
|
||
|
|
#define CARTOGRAPHER_CLOUD_INTERNAL_MAPPING_SERIALIZATION_H
|
||
|
|
|
||
|
|
#include "cartographer/cloud/proto/map_builder_service.pb.h"
|
||
|
|
#include "cartographer/mapping/pose_graph_interface.h"
|
||
|
|
|
||
|
|
namespace cartographer {
|
||
|
|
namespace cloud {
|
||
|
|
|
||
|
|
proto::TrajectoryState ToProto(
|
||
|
|
const mapping::PoseGraphInterface::TrajectoryState& trajectory_state);
|
||
|
|
mapping::PoseGraphInterface::TrajectoryState FromProto(
|
||
|
|
const proto::TrajectoryState& proto);
|
||
|
|
|
||
|
|
proto::TrajectoryRemapping ToProto(
|
||
|
|
const std::map<int, int>& trajectory_remapping);
|
||
|
|
std::map<int, int> FromProto(const proto::TrajectoryRemapping& proto);
|
||
|
|
|
||
|
|
} // namespace cloud
|
||
|
|
} // namespace cartographer
|
||
|
|
|
||
|
|
#endif // CARTOGRAPHER_CLOUD_INTERNAL_MAPPING_SERIALIZATION_H
|