optimizing_local_trajectory_builder_options.cc
Go to the documentation of this file.
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 
19 namespace cartographer {
20 namespace mapping_3d {
21 
22 proto::OptimizingLocalTrajectoryBuilderOptions
24  common::LuaParameterDictionary* const parameter_dictionary) {
25  proto::OptimizingLocalTrajectoryBuilderOptions options;
26  options.set_high_resolution_grid_weight(
27  parameter_dictionary->GetDouble("high_resolution_grid_weight"));
28  options.set_low_resolution_grid_weight(
29  parameter_dictionary->GetDouble("low_resolution_grid_weight"));
30  options.set_velocity_weight(
31  parameter_dictionary->GetDouble("velocity_weight"));
32  options.set_translation_weight(
33  parameter_dictionary->GetDouble("translation_weight"));
34  options.set_rotation_weight(
35  parameter_dictionary->GetDouble("rotation_weight"));
36  options.set_odometry_translation_weight(
37  parameter_dictionary->GetDouble("odometry_translation_weight"));
38  options.set_odometry_rotation_weight(
39  parameter_dictionary->GetDouble("odometry_rotation_weight"));
40  return options;
41 }
42 
43 } // namespace mapping_3d
44 } // namespace cartographer
proto::OptimizingLocalTrajectoryBuilderOptions CreateOptimizingLocalTrajectoryBuilderOptions(common::LuaParameterDictionary *const parameter_dictionary)


cartographer
Author(s):
autogenerated on Wed Jun 5 2019 21:57:58