policies.hpp

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// Copyright 2020 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
 
#ifndef POINT_CLOUD_MAPPING__POLICIES_HPP_
#define POINT_CLOUD_MAPPING__POLICIES_HPP_
 
#include <point_cloud_mapping/visibility_control.hpp>
#include <localization_common/localizer_base.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <point_cloud_mapping/map.hpp>
#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
#include <lidar_utils/point_cloud_utils.hpp>
#include <memory>
#include <string>
#include <utility>
 
namespace autoware
{
namespace mapping
{
namespace point_cloud_mapping
{
template<typename Derived>
class TriggerPolicyBase : public common::helper_functions::crtp<Derived>
{
public:
  template<typename MapRepresentationT>
  bool ready(const MapRepresentationT & map) const noexcept
  {
    return this->impl().ready_(map);
  }
};
 
class POINT_CLOUD_MAPPING_PUBLIC CapacityTrigger : public TriggerPolicyBase<CapacityTrigger>
{
public:
  template<typename MapRepresentationT>
  bool ready_(const MapRepresentationT & map) const noexcept
  {
    return map.size() >= map.capacity();
  }
};
 
template<typename Derived>
class PrefixGeneratorBase : public common::helper_functions::crtp<Derived>
{
public:
  // TODO(yunus.caliskan): return const ref instead?
 
  std::string get(const std::string & base_prefix) const noexcept
  {
    return this->impl().get_(base_prefix);
  }
};
 
class POINT_CLOUD_MAPPING_PUBLIC TimeStampPrefixGenerator
  : public PrefixGeneratorBase<TimeStampPrefixGenerator>
{
public:
  std::string get_(const std::string & base_prefix) const noexcept;
};
}  // namespace point_cloud_mapping
}  // namespace mapping
}  // namespace autoware
 
#endif  // POINT_CLOUD_MAPPING__POLICIES_HPP_