00001 /* 00002 * Copyright 2017 The Cartographer Authors 00003 * 00004 * Licensed under the Apache License, Version 2.0 (the "License"); 00005 * you may not use this file except in compliance with the License. 00006 * You may obtain a copy of the License at 00007 * 00008 * http://www.apache.org/licenses/LICENSE-2.0 00009 * 00010 * Unless required by applicable law or agreed to in writing, software 00011 * distributed under the License is distributed on an "AS IS" BASIS, 00012 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00013 * See the License for the specific language governing permissions and 00014 * limitations under the License. 00015 */ 00016 00017 #include "cartographer/sensor/fixed_frame_pose_data.h" 00018 00019 #include "absl/types/optional.h" 00020 #include "cartographer/transform/transform.h" 00021 00022 namespace cartographer { 00023 namespace sensor { 00024 00025 proto::FixedFramePoseData ToProto(const FixedFramePoseData& pose_data) { 00026 proto::FixedFramePoseData proto; 00027 proto.set_timestamp(common::ToUniversal(pose_data.time)); 00028 if (pose_data.pose.has_value()) { 00029 *proto.mutable_pose() = transform::ToProto(pose_data.pose.value()); 00030 } 00031 return proto; 00032 } 00033 00034 FixedFramePoseData FromProto(const proto::FixedFramePoseData& proto) { 00035 return FixedFramePoseData{common::FromUniversal(proto.timestamp()), 00036 proto.has_pose() 00037 ? absl::optional<transform::Rigid3d>( 00038 transform::ToRigid3(proto.pose())) 00039 : absl::optional<transform::Rigid3d>()}; 00040 } 00041 00042 } // namespace sensor 00043 } // namespace cartographer