fixed_frame_pose_data.h
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00001 /*
00002  * Copyright 2017 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_SENSOR_FIXED_FRAME_POSE_DATA_H_
00018 #define CARTOGRAPHER_SENSOR_FIXED_FRAME_POSE_DATA_H_
00019 
00020 #include <memory>
00021 
00022 #include "absl/types/optional.h"
00023 #include "cartographer/common/time.h"
00024 #include "cartographer/sensor/proto/sensor.pb.h"
00025 #include "cartographer/transform/rigid_transform.h"
00026 
00027 namespace cartographer {
00028 namespace sensor {
00029 
00030 // The fixed frame pose data (like GPS, pose, etc.) will be used in the
00031 // optimization.
00032 struct FixedFramePoseData {
00033   common::Time time;
00034   absl::optional<transform::Rigid3d> pose;
00035 };
00036 
00037 // Converts 'pose_data' to a proto::FixedFramePoseData.
00038 proto::FixedFramePoseData ToProto(const FixedFramePoseData& pose_data);
00039 
00040 // Converts 'proto' to an FixedFramePoseData.
00041 FixedFramePoseData FromProto(const proto::FixedFramePoseData& proto);
00042 
00043 }  // namespace sensor
00044 }  // namespace cartographer
00045 
00046 #endif  // CARTOGRAPHER_SENSOR_FIXED_FRAME_POSE_DATA_H_


cartographer
Author(s): The Cartographer Authors
autogenerated on Thu May 9 2019 02:27:35