.. _program_listing_file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_trajectory_options.h:

Program Listing for File trajectory_options.h
=============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_cartographer_ros_cartographer_ros_include_cartographer_ros_trajectory_options.h>` (``/tmp/ws/src/cartographer_ros/cartographer_ros/include/cartographer_ros/trajectory_options.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * 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_ROS_CARTOGRAPHER_ROS_TRAJECTORY_OPTIONS_H
   #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_TRAJECTORY_OPTIONS_H
   
   #include <string>
   
   #include "cartographer/common/lua_parameter_dictionary.h"
   #include "cartographer/common/port.h"
   #include "cartographer/mapping/proto/trajectory_builder_options.pb.h"
   
   namespace cartographer_ros {
   
   struct TrajectoryOptions {
     ::cartographer::mapping::proto::TrajectoryBuilderOptions
         trajectory_builder_options;
     std::string tracking_frame;
     std::string published_frame;
     std::string odom_frame;
     bool provide_odom_frame;
     bool use_odometry;
     bool use_nav_sat;
     bool use_landmarks;
     bool publish_frame_projected_to_2d;
     int num_laser_scans;
     int num_multi_echo_laser_scans;
     int num_subdivisions_per_laser_scan;
     int num_point_clouds;
     double rangefinder_sampling_ratio;
     double odometry_sampling_ratio;
     double fixed_frame_pose_sampling_ratio;
     double imu_sampling_ratio;
     double landmarks_sampling_ratio;
   };
   
   TrajectoryOptions CreateTrajectoryOptions(
       ::cartographer::common::LuaParameterDictionary* lua_parameter_dictionary);
   
   }  // namespace cartographer_ros
   
   #endif  // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_TRAJECTORY_OPTIONS_H