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srcs/RobotNet10/RobotApp/Communication/CartographerSharp/Mapping/IMapBuilder.cs

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+/*
+ * Copyright 2017 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.
+ */
+
+using CartographerSharp.Models.Mapping;
+using CartographerSharp.Transform;
+
+namespace CartographerSharp.Mapping;
+
+/// <summary>
+/// This interface is used for both library and RPC implementations.
+/// Implementations wire up the complete SLAM stack.
+/// </summary>
+public interface IMapBuilder : IDisposable
+{
+    /// <summary>
+    /// Creates a new trajectory builder and returns its index.
+    /// </summary>
+    int AddTrajectoryBuilder(
+        HashSet<ITrajectoryBuilder.SensorId> expectedSensorIds,
+        TrajectoryBuilderOptions trajectoryOptions);
+
+    /// <summary>
+    /// Creates a new trajectory and returns its index. Querying the trajectory
+    /// builder for it will return 'null'.
+    /// </summary>
+    int AddTrajectoryForDeserialization(
+        TrajectoryBuilderOptionsWithSensorIds optionsWithSensorIdsProto);
+
+    /// <summary>
+    /// Returns the 'ITrajectoryBuilder' corresponding to the specified
+    /// 'trajectory_id' or 'null' if the trajectory has no corresponding builder.
+    /// </summary>
+    ITrajectoryBuilder? GetTrajectoryBuilder(int trajectoryId);
+
+    /// <summary>
+    /// Marks the TrajectoryBuilder corresponding to 'trajectory_id' as finished,
+    /// i.e. no further sensor data is expected.
+    /// </summary>
+    void FinishTrajectory(int trajectoryId);
+
+    /// <summary>
+    /// Fills the SubmapQuery::Response corresponding to 'submap_id'. Returns an
+    /// error string on failure, or an empty string on success.
+    /// </summary>
+    string SubmapToProto(SubmapId submapId, out Models.Mapping.SubmapQuery.Response response);
+
+    /// <summary>
+    /// Serializes the current state to a proto stream. If
+    /// 'include_unfinished_submaps' is set to true, unfinished submaps, i.e.
+    /// submaps that have not yet received all rangefinder data insertions, will
+    /// be included in the serialized state.
+    /// </summary>
+    void SerializeState(bool includeUnfinishedSubmaps, IO.IProtoStreamWriter writer);
+
+    /// <summary>
+    /// Serializes the current state to a proto stream file on the host system.
+    /// Returns true if the file was successfully written.
+    /// </summary>
+    bool SerializeStateToFile(bool includeUnfinishedSubmaps, string filename);
+
+    /// <summary>
+    /// Loads the SLAM state from a proto stream. Returns the remapping of new trajectory_ids.
+    /// </summary>
+    Dictionary<int, int> LoadState(IO.IProtoStreamReader reader, bool loadFrozenState);
+
+    /// <summary>
+    /// Loads the SLAM state from a pbstream file. Returns the remapping of new trajectory_ids.
+    /// </summary>
+    Dictionary<int, int> LoadStateFromFile(string filename, bool loadFrozenState);
+
+    /// <summary>
+    /// Starts relocalization (match C++ MapBuilder::StartRelocalization).
+    /// Sets pose graph localization callback and initial poses so constraint builder
+    /// uses them when finding constraints (MaybeAddLocalizationConstraint).
+    /// Call after AddTrajectoryBuilder when starting localization (e.g. xloc calls
+    /// StartRelocalization(initial_poses, callback) after AddTrajectory).
+    /// </summary>
+    /// <param name="initialPoses">Initial poses in global frame (e.g. from MCL).</param>
+    /// <param name="callback">Invoked when relocalization succeeds or when max nodes searched without success (trajectoryId=-1).</param>
+    void StartRelocalization(IReadOnlyList<Rigid3d> initialPoses, Action<int, long, Rigid3d>? callback);
+
+    int NumTrajectoryBuilders { get; }
+
+    IPoseGraph PoseGraph { get; }
+
+    List<TrajectoryBuilderOptionsWithSensorIds> GetAllTrajectoryBuilderOptions();
+}