38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
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/*
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* Copyright 2017 The Cartographer Authors
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "cartographer/sensor/fixed_frame_pose_data.h"
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#include "cartographer/transform/transform.h"
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namespace cartographer {
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namespace sensor {
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proto::FixedFramePoseData ToProto(const FixedFramePoseData& pose_data) {
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proto::FixedFramePoseData proto;
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proto.set_timestamp(common::ToUniversal(pose_data.time));
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*proto.mutable_pose() = transform::ToProto(pose_data.pose);
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return proto;
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}
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FixedFramePoseData FromProto(const proto::FixedFramePoseData& proto) {
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return FixedFramePoseData{common::FromUniversal(proto.timestamp()),
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transform::ToRigid3(proto.pose())};
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}
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} // namespace sensor
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} // namespace cartographer
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