ndt_map_matrix_handler.cc

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/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * 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.
 *****************************************************************************/
#include "modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_matrix_handler.h"
 
#include <memory>
 
namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {
// =================PyramidMapMatrixHandlerSelector=================
NdtMapMatrixHandlerSelector::NdtMapMatrixHandlerSelector() {}
 
NdtMapMatrixHandlerSelector::~NdtMapMatrixHandlerSelector() {}
 
BaseMapMatrixHandler* NdtMapMatrixHandlerSelector::AllocNdtMapMatrixHandler() {
  return new NdtMapMatrixHandler();
}
 
NdtMapMatrixHandler::NdtMapMatrixHandler() {}
NdtMapMatrixHandler::~NdtMapMatrixHandler() {}
 
size_t NdtMapMatrixHandler::LoadBinary(const unsigned char* buf,
                                       std::shared_ptr<BaseMapMatrix> matrix) {
  if (!matrix) {
    return 0;
  }
  std::shared_ptr<NdtMapMatrix> ndt_matrix =
      std::dynamic_pointer_cast<NdtMapMatrix>(matrix);
  size_t size = ndt_matrix->LoadBinary(buf);
  return size;
}
size_t NdtMapMatrixHandler::CreateBinary(
    const std::shared_ptr<BaseMapMatrix> matrix, unsigned char* buf,
    size_t buf_size) {
  if (!matrix) {
    return 0;
  }
  const std::shared_ptr<NdtMapMatrix> ndt_matrix =
      std::dynamic_pointer_cast<NdtMapMatrix>(matrix);
  return ndt_matrix->CreateBinary(buf, buf_size);
}
size_t NdtMapMatrixHandler::GetBinarySize(
    const std::shared_ptr<BaseMapMatrix> matrix) {
  const std::shared_ptr<NdtMapMatrix> ndt_matrix =
      std::dynamic_pointer_cast<NdtMapMatrix>(matrix);
  return ndt_matrix->GetBinarySize();
}
 
}  // namespace pyramid_map
}  // namespace msf
}  // namespace localization
}  // namespace apollo