node_options.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_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
18 #define CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
19 
20 #include <string>
21 #include <tuple>
22 
25 #include "cartographer/mapping/proto/map_builder_options.pb.h"
27 
28 namespace cartographer_ros {
29 
30 // Top-level options of Cartographer's ROS integration.
31 struct NodeOptions {
32  ::cartographer::mapping::proto::MapBuilderOptions map_builder_options;
33  std::string map_frame;
38 };
39 
41  ::cartographer::common::LuaParameterDictionary* lua_parameter_dictionary);
42 
43 std::tuple<NodeOptions, TrajectoryOptions> LoadOptions(
44  const std::string& configuration_directory,
45  const std::string& configuration_basename);
46 
47 } // namespace cartographer_ros
48 
49 #endif // CARTOGRAPHER_ROS_CARTOGRAPHER_ROS_NODE_OPTIONS_H
::cartographer::mapping::proto::MapBuilderOptions map_builder_options
Definition: node_options.h:32
std::tuple< NodeOptions, TrajectoryOptions > LoadOptions(const std::string &configuration_directory, const std::string &configuration_basename)
Definition: node_options.cc:46
NodeOptions CreateNodeOptions(::cartographer::common::LuaParameterDictionary *const lua_parameter_dictionary)
Definition: node_options.cc:27


cartographer_ros
Author(s): The Cartographer Authors
autogenerated on Mon Feb 28 2022 22:06:05