trajectory_node.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_MAPPING_TRAJECTORY_NODE_H_
18 #define CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
19 
20 #include <memory>
21 #include <vector>
22 
23 #include "Eigen/Core"
27 
28 namespace cartographer {
29 namespace mapping {
30 
32  struct Data {
34 
35  // Range data in 'pose' frame. Only used in the 2D case.
37 
38  // Range data in 'pose' frame. Only used in the 3D case.
40 
41  // Transform from the 3D 'tracking' frame to the 'pose' frame of the range
42  // data, which contains roll, pitch and height for 2D. In 3D this is always
43  // identity.
45  };
46 
47  common::Time time() const { return constant_data->time; }
48  bool trimmed() const { return constant_data == nullptr; }
49 
50  // This must be a shared_ptr. If the data is used for visualization while the
51  // node is being trimmed, it must survive until all use finishes.
52  std::shared_ptr<const Data> constant_data;
53 
55 };
56 
57 } // namespace mapping
58 } // namespace cartographer
59 
60 #endif // CARTOGRAPHER_MAPPING_TRAJECTORY_NODE_H_
sensor::CompressedRangeData range_data_3d
std::shared_ptr< const Data > constant_data
UniversalTimeScaleClock::time_point Time
Definition: time.h:44


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autogenerated on Wed Jun 5 2019 21:57:59