// 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 = "proto3";

package cartographer.mapping.pose_graph.proto;

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

// NEXT ID: 13
message OptimizationProblemOptions {
  // Scaling parameter for Huber loss function.
  double huber_scale = 1;

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

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

  // Scaling parameter for translation between consecutive nodes.
  double consecutive_node_translation_weight = 2;

  // Scaling parameter for rotation between consecutive nodes.
  double consecutive_node_rotation_weight = 3;

  // Scaling parameter for the FixedFramePose translation.
  double fixed_frame_pose_translation_weight = 11;

  // Scaling parameter for the FixedFramePose rotation.
  double fixed_frame_pose_rotation_weight = 12;

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

  common.proto.CeresSolverOptions ceres_solver_options = 7;
}
