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