5 namespace scan_matching {
7 proto::RealTimeCorrelativeScanMatcherOptions
10 proto::RealTimeCorrelativeScanMatcherOptions options;
11 options.set_linear_search_window(
12 parameter_dictionary->
GetDouble(
"linear_search_window"));
13 options.set_angular_search_window(
14 parameter_dictionary->
GetDouble(
"angular_search_window"));
15 options.set_translation_delta_cost_weight(
16 parameter_dictionary->
GetDouble(
"translation_delta_cost_weight"));
17 options.set_rotation_delta_cost_weight(
18 parameter_dictionary->
GetDouble(
"rotation_delta_cost_weight"));
19 CHECK_GE(options.translation_delta_cost_weight(), 0.);
20 CHECK_GE(options.rotation_delta_cost_weight(), 0.);
double GetDouble(const std::string &key)
proto::RealTimeCorrelativeScanMatcherOptions CreateRealTimeCorrelativeScanMatcherOptions(common::LuaParameterDictionary *const parameter_dictionary)