ndt_map_matrix_handler.h

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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.
 *****************************************************************************/
#pragma once
 
#include <memory>
#include "modules/localization/msf/local_pyramid_map/base_map/base_map_matrix_handler.h"
#include "modules/localization/msf/local_pyramid_map/ndt_map/ndt_map_matrix.h"
 
namespace apollo {
namespace localization {
namespace msf {
namespace pyramid_map {
 
class NdtMapMatrixHandlerSelector {
 public:
  NdtMapMatrixHandlerSelector();
  ~NdtMapMatrixHandlerSelector();
 
  static BaseMapMatrixHandler* AllocNdtMapMatrixHandler();
};
 
class NdtMapMatrixHandler : public BaseMapMatrixHandler {
 public:
  NdtMapMatrixHandler();
  virtual ~NdtMapMatrixHandler();
 
  size_t LoadBinary(const unsigned char* buf,
                    std::shared_ptr<BaseMapMatrix> matrix);
  size_t CreateBinary(const std::shared_ptr<BaseMapMatrix> matrix,
                      unsigned char* buf, size_t buf_size);
  size_t GetBinarySize(const std::shared_ptr<BaseMapMatrix> matrix);
};
 
}  // namespace pyramid_map
}  // namespace msf
}  // namespace localization
}  // namespace apollo