configuration.h
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1 /*
2  * Copyright 2016 The Cartographer Authors
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  */
16 
17 #ifndef CARTOGRAPHER_SENSOR_CONFIGURATION_H_
18 #define CARTOGRAPHER_SENSOR_CONFIGURATION_H_
19 
20 #include "Eigen/Geometry"
22 #include "cartographer/sensor/proto/configuration.pb.h"
24 
25 namespace cartographer {
26 namespace sensor {
27 
28 // Creates the configuration for a singular sensor from 'parameter_dictionary'.
29 proto::Configuration::Sensor CreateSensorConfiguration(
30  common::LuaParameterDictionary* parameter_dictionary);
31 
32 // Creates the mapping from frame_id to Sensors defined in
33 // 'parameter_dictionary'.
34 proto::Configuration CreateConfiguration(
35  common::LuaParameterDictionary* parameter_dictionary);
36 
37 // Returns true if 'frame_id' is mentioned in 'sensor_configuration'.
38 bool IsEnabled(const string& frame_id,
39  const sensor::proto::Configuration& sensor_configuration);
40 
41 // Returns the transform which takes data from the sensor frame to the
42 // tracking frame.
44  const string& frame_id,
45  const sensor::proto::Configuration& sensor_configuration);
46 
47 } // namespace sensor
48 } // namespace cartographer
49 
50 #endif // CARTOGRAPHER_SENSOR_CONFIGURATION_H_
proto::Configuration::Sensor CreateSensorConfiguration(common::LuaParameterDictionary *const parameter_dictionary)
Rigid3< double > Rigid3d
proto::Configuration CreateConfiguration(common::LuaParameterDictionary *const parameter_dictionary)
transform::Rigid3d GetTransformToTracking(const string &frame_id, const sensor::proto::Configuration &sensor_configuration)
bool IsEnabled(const string &frame_id, const sensor::proto::Configuration &sensor_configuration)


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autogenerated on Wed Jun 5 2019 21:57:58