// 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.mapping.sparse_pose_graph.proto;

import "cartographer/common/proto/ceres_solver_options.proto";

// NEXT ID: 11
message OptimizationProblemOptions {
  // Scaling parameter for Huber loss function.
  optional double huber_scale = 1;

  // Scaling parameter for the IMU acceleration term.
  optional double acceleration_weight = 8;

  // Scaling parameter for the IMU rotation term.
  optional double rotation_weight = 9;

  // Penalty factors for changes to the relative pose between consecutive scans.
  optional double consecutive_scan_translation_penalty_factor = 2;
  optional double consecutive_scan_rotation_penalty_factor = 3;

  // If true, the Ceres solver summary will be logged for every optimization.
  optional bool log_solver_summary = 5;

  optional common.proto.CeresSolverOptions ceres_solver_options = 7;
}
