// Copyright 2016 The Cartographer Authors
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

syntax = "proto2";

package cartographer.kalman_filter.proto;

message PoseTrackerOptions {
  // Model variances depend linearly on time.
  optional double position_model_variance = 1;
  optional double orientation_model_variance = 2;
  optional double velocity_model_variance = 3;

  // Time constant for the orientation moving average based on observed gravity
  // via linear acceleration.
  optional double imu_gravity_time_constant = 4;
  optional double imu_gravity_variance = 5;

  // Maximum number of previous odometry states to keep.
  optional int32 num_odometry_states = 6;
}
