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_LANDMARK_DATA_H_ 00018 #define CARTOGRAPHER_SENSOR_LANDMARK_DATA_H_ 00019 00020 #include <string> 00021 00022 #include "Eigen/Core" 00023 #include "Eigen/Geometry" 00024 #include "cartographer/common/port.h" 00025 #include "cartographer/common/time.h" 00026 #include "cartographer/sensor/proto/sensor.pb.h" 00027 #include "cartographer/transform/rigid_transform.h" 00028 00029 namespace cartographer { 00030 namespace sensor { 00031 00032 struct LandmarkObservation { 00033 std::string id; 00034 transform::Rigid3d landmark_to_tracking_transform; 00035 double translation_weight; 00036 double rotation_weight; 00037 }; 00038 00039 struct LandmarkData { 00040 common::Time time; 00041 std::vector<LandmarkObservation> landmark_observations; 00042 }; 00043 00044 // Converts 'landmark_data' to a proto::LandmarkData. 00045 proto::LandmarkData ToProto(const LandmarkData& landmark_data); 00046 00047 // Converts 'proto' to an LandmarkData. 00048 LandmarkData FromProto(const proto::LandmarkData& proto); 00049 00050 } // namespace sensor 00051 } // namespace cartographer 00052 00053 #endif // CARTOGRAPHER_SENSOR_LANDMARK_DATA_H_