pose_collection.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 <vector>
#include "modules/map/tools/map_datachecker/server/common.h"
 
namespace apollo {
namespace hdmap {
 
enum class PoseCollectionState { IDLE, RUNNING };
 
class PoseCollection {
 public:
  explicit PoseCollection(std::shared_ptr<JsonConf> sp_conf);
  void Collect(const FramePose& pose);
  std::shared_ptr<std::vector<FramePose>> GetPoses() const;
 
 private:
  void Reset();
 
 private:
  std::shared_ptr<std::vector<FramePose>> sp_poses_ = nullptr;
  std::shared_ptr<JsonConf> sp_conf_ = nullptr;
};
 
}  // namespace hdmap
}  // namespace apollo