mapping_3d/local_trajectory_builder.cc
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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 
18 
22 
23 namespace cartographer {
24 namespace mapping_3d {
25 
26 std::unique_ptr<LocalTrajectoryBuilderInterface> CreateLocalTrajectoryBuilder(
27  const proto::LocalTrajectoryBuilderOptions&
28  local_trajectory_builder_options) {
29  switch (local_trajectory_builder_options.use()) {
30  case proto::LocalTrajectoryBuilderOptions::KALMAN:
31  return common::make_unique<KalmanLocalTrajectoryBuilder>(
32  local_trajectory_builder_options);
33  case proto::LocalTrajectoryBuilderOptions::OPTIMIZING:
34  return common::make_unique<OptimizingLocalTrajectoryBuilder>(
35  local_trajectory_builder_options);
36  }
37  LOG(FATAL);
38 }
39 
40 } // namespace mapping_3d
41 } // namespace cartographer
std::unique_ptr< LocalTrajectoryBuilderInterface > CreateLocalTrajectoryBuilder(const proto::LocalTrajectoryBuilderOptions &local_trajectory_builder_options)


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autogenerated on Wed Jun 5 2019 21:57:58