cartographer: real_time_correlative_scan

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00001 #include "cartographer/mapping/internal/scan_matching/real_time_correlative_scan_matcher.h"
00002 
00003 namespace cartographer {
00004 namespace mapping {
00005 namespace scan_matching {
00006 
00007 proto::RealTimeCorrelativeScanMatcherOptions
00008 CreateRealTimeCorrelativeScanMatcherOptions(
00009     common::LuaParameterDictionary* const parameter_dictionary) {
00010   proto::RealTimeCorrelativeScanMatcherOptions options;
00011   options.set_linear_search_window(
00012       parameter_dictionary->GetDouble("linear_search_window"));
00013   options.set_angular_search_window(
00014       parameter_dictionary->GetDouble("angular_search_window"));
00015   options.set_translation_delta_cost_weight(
00016       parameter_dictionary->GetDouble("translation_delta_cost_weight"));
00017   options.set_rotation_delta_cost_weight(
00018       parameter_dictionary->GetDouble("rotation_delta_cost_weight"));
00019   CHECK_GE(options.translation_delta_cost_weight(), 0.);
00020   CHECK_GE(options.rotation_delta_cost_weight(), 0.);
00021   return options;
00022 }
00023 
00024 }  // namespace scan_matching
00025 }  // namespace mapping
00026 }  // namespace cartographer