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_TRANSFORM_TIMESTAMPED_TRANSFORM_H_ 00018 #define CARTOGRAPHER_TRANSFORM_TIMESTAMPED_TRANSFORM_H_ 00019 00020 #include "cartographer/common/time.h" 00021 #include "cartographer/transform/proto/timestamped_transform.pb.h" 00022 #include "cartographer/transform/rigid_transform.h" 00023 00024 namespace cartographer { 00025 namespace transform { 00026 00027 struct TimestampedTransform { 00028 common::Time time; 00029 transform::Rigid3d transform; 00030 }; 00031 00032 TimestampedTransform FromProto(const proto::TimestampedTransform& proto); 00033 proto::TimestampedTransform ToProto(const TimestampedTransform& transform); 00034 00035 TimestampedTransform Interpolate(const TimestampedTransform& start, 00036 const TimestampedTransform& end, 00037 const common::Time time); 00038 00039 } // namespace transform 00040 } // namespace cartographer 00041 00042 #endif // CARTOGRAPHER_TRANSFORM_TIMESTAMPED_TRANSFORM_H_