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00017 #ifndef CARTOGRAPHER_SENSOR_ODOMETRY_DATA_H_
00018 #define CARTOGRAPHER_SENSOR_ODOMETRY_DATA_H_
00019
00020 #include "cartographer/common/time.h"
00021 #include "cartographer/sensor/proto/sensor.pb.h"
00022 #include "cartographer/transform/rigid_transform.h"
00023
00024 namespace cartographer {
00025 namespace sensor {
00026
00027 struct OdometryData {
00028 common::Time time;
00029 transform::Rigid3d pose;
00030 };
00031
00032
00033 proto::OdometryData ToProto(const OdometryData& odometry_data);
00034
00035
00036 OdometryData FromProto(const proto::OdometryData& proto);
00037
00038 }
00039 }
00040
00041 #endif // CARTOGRAPHER_SENSOR_ODOMETRY_DATA_H_