cartographer: ceres_solver_options.h Source File

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00001 /*
00002  * Copyright 2016 The Cartographer Authors
00003  *
00004  * Licensed under the Apache License, Version 2.0 (the "License");
00005  * you may not use this file except in compliance with the License.
00006  * You may obtain a copy of the License at
00007  *
00008  *      http://www.apache.org/licenses/LICENSE-2.0
00009  *
00010  * Unless required by applicable law or agreed to in writing, software
00011  * distributed under the License is distributed on an "AS IS" BASIS,
00012  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
00013  * See the License for the specific language governing permissions and
00014  * limitations under the License.
00015  */
00016 
00017 #ifndef CARTOGRAPHER_COMMON_CERES_SOLVER_OPTIONS_H_
00018 #define CARTOGRAPHER_COMMON_CERES_SOLVER_OPTIONS_H_
00019 
00020 #include "cartographer/common/lua_parameter_dictionary.h"
00021 #include "cartographer/common/proto/ceres_solver_options.pb.h"
00022 #include "ceres/ceres.h"
00023 
00024 namespace cartographer {
00025 namespace common {
00026 
00027 proto::CeresSolverOptions CreateCeresSolverOptionsProto(
00028     common::LuaParameterDictionary* parameter_dictionary);
00029 
00030 ceres::Solver::Options CreateCeresSolverOptions(
00031     const proto::CeresSolverOptions& proto);
00032 
00033 }  // namespace common
00034 }  // namespace cartographer
00035 
00036 #endif  // CARTOGRAPHER_COMMON_CERES_SOLVER_OPTIONS_H_