From 607de03d6b0a28e581a2987d97816c909742954c Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Mon, 1 Oct 2018 16:16:44 +0200
Subject: [PATCH] [GenericPoseGraph] Proto for pose graph solver config.
 (#1436)

---
 cartographer/pose_graph/proto/solver_config.proto | 14 ++++++++++++++
 1 file changed, 14 insertions(+)
 create mode 100644 cartographer/pose_graph/proto/solver_config.proto

diff --git a/cartographer/pose_graph/proto/solver_config.proto b/cartographer/pose_graph/proto/solver_config.proto
new file mode 100644
index 0000000..cec67cc
--- /dev/null
+++ b/cartographer/pose_graph/proto/solver_config.proto
@@ -0,0 +1,14 @@
+syntax = "proto3";
+
+import "cartographer/common/proto/ceres_solver_options.proto";
+
+package cartographer.pose_graph.proto;
+
+// Configuration for the non-linear least squares solver.
+message SolverConfig {
+  // If true, logs a summary of the optimization in every iteration.
+  bool log_solver_summary = 1;
+
+  // Options specific for the Ceres solver.
+  cartographer.common.proto.CeresSolverOptions ceres_options = 2;
+}