sparse_pose_graph/constraint_builder.h

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/*
 * Copyright 2016 The Cartographer Authors
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *      http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */

#ifndef CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_
#define CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_

#include "cartographer/common/lua_parameter_dictionary.h"
#include "cartographer/mapping/sparse_pose_graph/proto/constraint_builder_options.pb.h"

namespace cartographer {
namespace mapping {
namespace sparse_pose_graph {

proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
    common::LuaParameterDictionary* parameter_dictionary);

}  // namespace sparse_pose_graph
}  // namespace mapping
}  // namespace cartographer

#endif  // CARTOGRAPHER_MAPPING_SPARSE_POSE_GRAPH_CONSTRAINT_BUILDER_H_